summaryrefslogtreecommitdiffstats
path: root/CAN-binder/low-can-binding
diff options
context:
space:
mode:
Diffstat (limited to 'CAN-binder/low-can-binding')
-rw-r--r--CAN-binder/low-can-binding/CMakeLists.txt67
-rw-r--r--CAN-binder/low-can-binding/binding/application-generated.cpp564
-rw-r--r--CAN-binder/low-can-binding/binding/application.cpp78
-rw-r--r--CAN-binder/low-can-binding/binding/application.hpp104
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-cb.cpp358
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-hat.cpp73
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-hat.hpp40
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-subscription.cpp306
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-subscription.hpp91
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.cpp337
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.hpp94
-rw-r--r--CAN-binder/low-can-binding/can/can-command.hpp55
-rw-r--r--CAN-binder/low-can-binding/can/can-decoder.cpp244
-rw-r--r--CAN-binder/low-can-binding/can/can-decoder.hpp49
-rw-r--r--CAN-binder/low-can-binding/can/can-message-definition.cpp100
-rw-r--r--CAN-binder/low-can-binding/can/can-message-definition.hpp71
-rw-r--r--CAN-binder/low-can-binding/can/can-message-set.cpp59
-rw-r--r--CAN-binder/low-can-binding/can/can-message-set.hpp50
-rw-r--r--CAN-binder/low-can-binding/can/can-message.cpp389
-rw-r--r--CAN-binder/low-can-binding/can/can-message.hpp80
-rw-r--r--CAN-binder/low-can-binding/can/can-signals.cpp203
-rw-r--r--CAN-binder/low-can-binding/can/can-signals.hpp151
-rw-r--r--CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp182
-rw-r--r--CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp117
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp508
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp91
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp113
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp82
-rw-r--r--CAN-binder/low-can-binding/utils/config-parser.cpp67
-rw-r--r--CAN-binder/low-can-binding/utils/config-parser.hpp44
-rw-r--r--CAN-binder/low-can-binding/utils/openxc-utils.cpp351
-rw-r--r--CAN-binder/low-can-binding/utils/openxc-utils.hpp47
-rw-r--r--CAN-binder/low-can-binding/utils/signals.cpp77
-rw-r--r--CAN-binder/low-can-binding/utils/signals.hpp86
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.cpp101
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.hpp53
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-raw.cpp88
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-raw.hpp35
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan.cpp97
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan.hpp71
-rw-r--r--CAN-binder/low-can-binding/utils/timer.cpp129
-rw-r--r--CAN-binder/low-can-binding/utils/timer.hpp58
42 files changed, 0 insertions, 5960 deletions
diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt
deleted file mode 100644
index cd38fca3..00000000
--- a/CAN-binder/low-can-binding/CMakeLists.txt
+++ /dev/null
@@ -1,67 +0,0 @@
-###########################################################################
-# Copyright 2015, 2016, 2017 IoT.bzh
-#
-# author: Fulup Ar Foll <fulup@iot.bzh>
-# contrib: Romain Forlot <romain.forlot@iot.bzh>
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-###########################################################################
-
-# Add target to project dependency list
-PROJECT_TARGET_ADD(low-can)
-
- # Define project Targets
- add_library(${TARGET_NAME} MODULE
- binding/${TARGET_NAME}-hat.cpp
- binding/${TARGET_NAME}-cb.cpp
- binding/${TARGET_NAME}-subscription.cpp
- binding/application.cpp
- binding/application-generated.cpp
- can/can-bus.cpp
- can/can-message-set.cpp
- can/can-message-definition.cpp
- can/can-message.cpp
- can/can-signals.cpp
- can/can-decoder.cpp
- diagnostic/diagnostic-message.cpp
- diagnostic/diagnostic-manager.cpp
- diagnostic/active-diagnostic-request.cpp
- utils/signals.cpp
- utils/openxc-utils.cpp
- utils/timer.cpp
- utils/socketcan.cpp
- utils/socketcan-raw.cpp
- utils/socketcan-bcm.cpp
- utils/config-parser.cpp)
-
- # Binder exposes a unique public entry point
- SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES
- PREFIX "afb-"
- LABELS "BINDING"
- LINK_FLAGS ${BINDINGS_LINK_FLAG}
- OUTPUT_NAME ${TARGET_NAME}
- )
-
- # Library dependencies (include updates automatically)
- TARGET_LINK_LIBRARIES(${TARGET_NAME}
- ini-config
- openxc-message-format
- uds-c
- isotp-c
- bitfield-c
- ${link_libraries})
-
- # installation directory
- INSTALL(TARGETS ${TARGET_NAME}
- LIBRARY DESTINATION ${BINDINGS_INSTALL_DIR})
-
diff --git a/CAN-binder/low-can-binding/binding/application-generated.cpp b/CAN-binder/low-can-binding/binding/application-generated.cpp
deleted file mode 100644
index 60a21f51..00000000
--- a/CAN-binder/low-can-binding/binding/application-generated.cpp
+++ /dev/null
@@ -1,564 +0,0 @@
-#include "application.hpp"
-#include "../can/can-decoder.hpp"
-
-application_t::application_t()
- : can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}}
- , can_message_set_{
- {std::make_shared<can_message_set_t>(can_message_set_t{0,"example",
- { // beginning can_message_definition_ vector
- {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
- { // beginning can_signals vector
- {std::make_shared<can_signal_t> (can_signal_t{
- "engine.speed",
- 16,
- 16,
- 0.250000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- nullptr,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "fuel.level.low",
- 55,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "fuel.level",
- 8,
- 8,
- 0.392157f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- nullptr,
- nullptr,
- false
- })}
- } // end can_signals vector
- })} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
- { // beginning can_signals vector
- {std::make_shared<can_signal_t> (can_signal_t{
- "vehicle.average.speed",
- 0,
- 15,
- 0.0156250f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- nullptr,
- nullptr,
- false
- })}
- } // end can_signals vector
- })} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
- { // beginning can_signals vector
- {std::make_shared<can_signal_t> (can_signal_t{
- "engine.oil.temp",
- 16,
- 8,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- nullptr,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "engine.oil.temp.high",
- 7,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })}
- } // end can_signals vector
- })} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
- { // beginning can_signals vector
- {std::make_shared<can_signal_t> (can_signal_t{
- "doors.boot.open",
- 47,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "doors.front_left.open",
- 43,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "doors.front_right.open",
- 44,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "doors.rear_left.open",
- 46,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "doors.rear_right.open",
- 45,
- 4,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })}
- } // end can_signals vector
- })} // end can_message_definition entry
-, {std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
- { // beginning can_signals vector
- {std::make_shared<can_signal_t> (can_signal_t{
- "windows.front_left.open",
- 43,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "windows.front_right.open",
- 44,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "windows.rear_left.open",
- 46,
- 1,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })},
- {std::make_shared<can_signal_t> (can_signal_t{
- "windows.rear_right.open",
- 45,
- 4,
- 1.00000f,
- 0.00000,
- 0,
- 0,
- frequency_clock_t(0.00000f),
- true,
- false,
- {
- },
- false,
- decoder_t::booleanDecoder,
- nullptr,
- false
- })}
- } // end can_signals vector
- })} // end can_message_definition entry
-
- }, // end can_message_definition vector
- { // beginning diagnostic_messages_ vector
- {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 4,
- "engine.load",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 5,
- "engine.coolant.temperature",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 10,
- "fuel.pressure",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 11,
- "intake.manifold.pressure",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 12,
- "engine.speed",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 13,
- "vehicle.speed",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 15,
- "intake.air.temperature",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 16,
- "mass.airflow",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 17,
- "throttle.position",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 31,
- "running.time",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 45,
- "EGR.error",
- 0,
- 0,
- UNIT::INVALID,
- 0.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 47,
- "fuel.level",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 51,
- "barometric.pressure",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 70,
- "ambient.air.temperature",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 76,
- "commanded.throttle.position",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 82,
- "ethanol.fuel.percentage",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 90,
- "accelerator.pedal.position",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 91,
- "hybrid.battery-pack.remaining.life",
- 0,
- 0,
- UNIT::INVALID,
- 5.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 92,
- "engine.oil.temperature",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 94,
- "engine.fuel.rate",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-, {std::make_shared<diagnostic_message_t>(diagnostic_message_t{
- 99,
- "engine.torque",
- 0,
- 0,
- UNIT::INVALID,
- 1.00000f,
- decoder_t::decode_obd2_response,
- nullptr,
- true
- })}
-
- } // end diagnostic_messages_ vector
- })} // end can_message_set entry
- } // end can_message_set vector
-{
- for(auto& cms: can_message_set_)
- {
- std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition();
- for(auto& cmd : can_messages_definition)
- {
- cmd->set_parent(cms.get());
- std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals();
- for(auto& sig: can_signals)
- {
- sig->set_parent(cmd.get());
- }
- }
-
- std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages();
- for(auto& dm : diagnostic_messages)
- {
- dm->set_parent(cms.get());
- }
- }
- }
-
-const std::string application_t::get_diagnostic_bus() const
-{
- return "hs";
-}
-
-
diff --git a/CAN-binder/low-can-binding/binding/application.cpp b/CAN-binder/low-can-binding/binding/application.cpp
deleted file mode 100644
index 6e6353b8..00000000
--- a/CAN-binder/low-can-binding/binding/application.cpp
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "application.hpp"
-
-#include "../utils/signals.hpp"
-#include "../utils/openxc-utils.hpp"
-
-/// @brief Return singleton instance of configuration object.
-application_t& application_t::instance()
-{
- static application_t config;
- return config;
-}
-
-can_bus_t& application_t::get_can_bus_manager()
-{
- return can_bus_manager_;
-}
-
-diagnostic_manager_t& application_t::get_diagnostic_manager()
-{
- return diagnostic_manager_;
-}
-
-uint8_t application_t::get_active_message_set() const
-{
- return active_message_set_;
-}
-
-std::vector<std::shared_ptr<can_message_set_t> > application_t::get_can_message_set()
-{
- return can_message_set_;
-}
-
-std::vector<std::shared_ptr<can_signal_t> > application_t::get_all_can_signals()
-{
- return can_message_set_[active_message_set_]->get_all_can_signals();
-}
-
-std::vector<std::shared_ptr<diagnostic_message_t> >& application_t::get_diagnostic_messages()
-{
- return can_message_set_[active_message_set_]->get_diagnostic_messages();
-}
-
-std::vector<std::shared_ptr<can_message_definition_t> >& application_t::get_can_message_definition()
-{
- return can_message_set_[active_message_set_]->get_can_message_definition();
-}
-
-uint32_t application_t::get_signal_id(diagnostic_message_t& sig) const
-{
- return sig.get_pid();
-}
-
-uint32_t application_t::get_signal_id(can_signal_t& sig) const
-{
- return sig.get_message()->get_id();
-}
-
-void application_t::set_active_message_set(uint8_t id)
-{
- active_message_set_ = id;
-}
diff --git a/CAN-binder/low-can-binding/binding/application.hpp b/CAN-binder/low-can-binding/binding/application.hpp
deleted file mode 100644
index 5fa64782..00000000
--- a/CAN-binder/low-can-binding/binding/application.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <map>
-#include <vector>
-#include <string>
-#include <memory>
-
-#include "../can/can-bus.hpp"
-#include "../can/can-message-set.hpp"
-#include "../can/can-signals.hpp"
-#include "../diagnostic/diagnostic-manager.hpp"
-
-#include "low-can-hat.hpp"
-
-///
-/// @brief Class representing a configuration attached to the binding.
-///
-/// It regroups all needed objects instance from other class
-/// that will be used along the binding life. It gets a global vision
-/// on which signals are implemented for that binding.
-/// Here, it is only the definition of the class with predefined accessors
-/// methods used in the binding.
-///
-/// It will be the reference point to needed objects.
-///
-class application_t
-{
- private:
- can_bus_t can_bus_manager_; ///< instanciate the CAN bus manager. It's the one in charge of initialize the CAN bus devices.
- diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication.
- uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0.
-
- std::vector<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file
-
- application_t(); ///< Private constructor with implementation generated by the AGL generator.
-
- public:
- static application_t& instance();
-
- can_bus_t& get_can_bus_manager();
-
- const std::string get_diagnostic_bus() const;
-
- diagnostic_manager_t& get_diagnostic_manager() ;
-
- uint8_t get_active_message_set() const;
-
- std::vector<std::shared_ptr<can_message_set_t> > get_can_message_set();
-
- std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals();
-
- std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages();
-
- const std::vector<std::string>& get_signals_prefix() const;
-
- std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition();
-
- uint32_t get_signal_id(diagnostic_message_t& sig) const;
-
- uint32_t get_signal_id(can_signal_t& sig) const;
-
- void set_active_message_set(uint8_t id);
-
-/*
- /// TODO: implement this function as method into can_bus class
- /// @brief Pre initialize actions made before CAN bus initialization
- /// @param[in] bus A CanBus struct defining the bus's metadata
- /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
- /// @param[in] buses An array of all CAN buses.
- void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
- /// TODO: implement this function as method into can_bus class
- /// @brief Post-initialize actions made after CAN bus initialization
- /// @param[in] bus A CanBus struct defining the bus's metadata
- /// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
- /// @param[in] buses An array of all CAN buses.
- void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
- /// TODO: implement this function as method into can_bus class
- /// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past.
- /// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds.
- void logBusStatistics(can_bus_dev_t* buses, const int busCount);
- /// TODO: implement this function as method into can_bus class
- /// @brief Log transfer statistics about all active CAN buses to the debug log.
- /// @param[in] buses An array of active CAN buses.
- bool isBusActive(can_bus_dev_t* bus);
- */
-};
-
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
deleted file mode 100644
index 97b6d206..00000000
--- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp
+++ /dev/null
@@ -1,358 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "low-can-hat.hpp"
-
-#include <map>
-#include <queue>
-#include <mutex>
-#include <vector>
-#include <thread>
-#include <json-c/json.h>
-#include <systemd/sd-event.h>
-
-#include "openxc.pb.h"
-#include "application.hpp"
-#include "../can/can-bus.hpp"
-#include "../can/can-signals.hpp"
-#include "../can/can-message.hpp"
-#include "../utils/signals.hpp"
-#include "../diagnostic/diagnostic-message.hpp"
-#include "../utils/openxc-utils.hpp"
-
-
-///******************************************************************************
-///
-/// SystemD event loop Callbacks
-///
-///*******************************************************************************/
-
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
- {
- DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
- active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
- if( adr != nullptr)
- application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
- }
-
- on_no_clients(can_subscription, s);
-}
-
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- auto it = s.find(can_subscription->get_index());
- s.erase(it);
-}
-
-static void push_n_notify(const can_message_t& cm)
-{
- can_bus_t& cbm = application_t::instance().get_can_bus_manager();
- {
- std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
- cbm.push_new_can_message(cm);
- }
- cbm.get_new_can_message_cv().notify_one();
-}
-
-int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
-{
- low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
- if ((revents & EPOLLIN) != 0)
- {
- can_message_t cm;
- utils::socketcan_bcm_t& s = can_subscription->get_socket();
- s >> cm;
-
- // Sure we got a valid CAN message ?
- if(! cm.get_id() == 0 && ! cm.get_length() == 0)
- {push_n_notify(cm);}
- }
-
- // check if error or hangup
- if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
- {
- sd_event_source_unref(event_source);
- can_subscription->get_socket().close();
- }
- return 0;
-}
-
-///******************************************************************************
-///
-/// Subscription and unsubscription
-///
-///*******************************************************************************/
-
-static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe)
-{
- /* Make the subscription or unsubscription to the event */
- if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
- {
- ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
- return -1;
- }
- return 0;
-}
-
-static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int sub_index = can_subscription->get_index();
- can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
- s[sub_index] = can_subscription;
- if (!afb_event_is_valid(s[sub_index]->get_event()))
- {
- ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
- return -1;
- }
- return 0;
-}
-
-/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
-/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
-/// against the application framework using that event handle.
-static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int ret = -1;
- int sub_index = can_subscription->get_index();
-
- if (can_subscription && s.find(sub_index) != s.end())
- {
- if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
- {
- NOTICE("Event isn't valid, no need to unsubscribed.");
- ret = -1;
- }
- ret = 0;
- }
- else
- {
- /* Event doesn't exist , so let's create it */
- can_subscription->set_event({nullptr, nullptr});
- s[sub_index] = can_subscription;
- ret = create_event_handle(can_subscription, s);
- }
-
- // Check whether or not the event handler has been correctly created and
- // make the subscription/unsubscription operation is so.
- if (ret < 0)
- return ret;
- return make_subscription_unsubscription(request, can_subscription, s, subscribe);
-}
-
-static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
-{
- struct sd_event_source* event_source = nullptr;
- return ( sd_event_add_io(afb_daemon_get_event_loop(),
- &event_source,
- can_subscription->get_socket().socket(),
- EPOLLIN,
- read_message,
- can_subscription.get()));
-}
-
-static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int rets = 0;
- application_t& app = application_t::instance();
- diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
-
- for(const auto& sig : diagnostic_messages)
- {
- DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
- event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
- std::shared_ptr<low_can_subscription_t> can_subscription;
-
- auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
- can_subscription = it != s.end() ?
- it->second :
- std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
- // If the requested diagnostic message isn't supported by the car then unsubcribe it
- // no matter what we want, worse case will be a fail unsubscription but at least we don't
- // poll a PID for nothing.
- //TODO: Adding callback requesting ignition status: diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
- if(sig->get_supported() && subscribe)
- {
- diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
- if(can_subscription->create_rx_filter(sig) < 0)
- {return -1;}
- DEBUG("Signal: %s subscribed", sig->get_name().c_str());
- if(it == s.end() && add_to_event_loop(can_subscription) < 0)
- {
- diag_m.cleanup_request(
- diag_m.find_recurring_request(*diag_req), true);
- WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
- return -1;
- }
- }
- else
- {
- if(sig->get_supported())
- {DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
- else
- {
- WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
- return -1;
- }
- }
- int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
- if(ret < 0)
- return ret;
-
- rets++;
- }
-
- return rets;
-}
-
-static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int rets = 0;
- for(const auto& sig: can_signals)
- {
- auto it = std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; });
- std::shared_ptr<low_can_subscription_t> can_subscription;
- if(it != s.end())
- {
- can_subscription = it->second;
- }
- else
- {
- can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
- if(can_subscription->create_rx_filter(sig) < 0)
- {return -1;}
- if(add_to_event_loop(can_subscription) < 0)
- {return -1;}
- }
-
- if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
- {return -1;}
-
- rets++;
- DEBUG("signal: %s subscribed", sig->get_name().c_str());
- }
- return rets;
-}
-
-///
-/// @brief subscribe to all signals in the vector signals
-///
-/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
-/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
-/// @param[in] signals - struct containing vectors with can_signal_t and diagnostic_messages to subscribe
-///
-/// @return Number of correctly subscribed signal
-///
-static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
-{
- int rets = 0;
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
-
- rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
- rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
-
- return rets;
-}
-
-static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
-{
- int ret = 0;
- struct event_filter_t event_filter;
- struct json_object *filter, *obj;
- struct utils::signals_found sf;
-
- // computes the filter
- if (json_object_object_get_ex(args, "filter", &filter))
- {
- if (json_object_object_get_ex(filter, "frequency", &obj)
- && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
- {
- event_filter.frequency = (float)json_object_get_double(obj);
- ret += 1;
- }
- if (json_object_object_get_ex(filter, "min", &obj)
- && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
- {
- event_filter.min = (float)json_object_get_double(obj);
- ret += 2;
- }
- if (json_object_object_get_ex(filter, "max", &obj)
- && (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
- {
- event_filter.max = (float)json_object_get_double(obj);
- ret += 4;
- }
- }
-
- // subscribe or unsubscribe
- openxc_DynamicField search_key = build_DynamicField(tag);
- sf = utils::signals_manager_t::instance().find_signals(search_key);
- if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
- NOTICE("No signal(s) found for %s.", tag.c_str());
- else
- ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
-
- return ret;
-}
-
-static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
-{
- int i, n, rc, rc2;
- struct json_object *args, *event, *x;
-
- args = afb_req_json(request);
- if (args == NULL || !json_object_object_get_ex(args, "event", &event))
- {
- rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
- }
- else if (json_object_get_type(event) != json_type_array)
- {
- rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
- }
- else
- {
- rc = 0;
- n = json_object_array_length(event);
- for (i = 0 ; i < n ; i++)
- {
- x = json_object_array_get_idx(event, i);
- rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
- if (rc >= 0)
- rc = rc2 >= 0 ? rc + rc2 : rc2;
- }
- }
-
- if (rc >= 0)
- afb_req_success(request, NULL, NULL);
- else
- afb_req_fail(request, "error", NULL);
-}
-
-void subscribe(struct afb_req request)
-{
- do_subscribe_unsubscribe(request, true);
-}
-
-void unsubscribe(struct afb_req request)
-{
- do_subscribe_unsubscribe(request, false);
-}
diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.cpp b/CAN-binder/low-can-binding/binding/low-can-hat.cpp
deleted file mode 100644
index 7113b69a..00000000
--- a/CAN-binder/low-can-binding/binding/low-can-hat.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "low-can-hat.hpp"
-#include "low-can-subscription.hpp"
-
-#include <map>
-#include <queue>
-#include <mutex>
-#include <vector>
-#include <json-c/json.h>
-
-#include "application.hpp"
-#include "../can/can-bus.hpp"
-
-extern "C"
-{
- static int initv2();
-
- static const struct afb_verb_v2 verbs[]=
- {
- { .verb= "subscribe", .callback= subscribe, .auth= NULL, .session= AFB_SESSION_NONE},
- { .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .session= AFB_SESSION_NONE},
- { .verb= NULL, .callback= NULL, .auth= NULL, .session= 0}
- };
-
- const struct afb_binding_v2 afbBindingV2 {
- .api = "low-can",
- .specification = NULL,
- .verbs = verbs,
- .preinit = NULL,
- .init = initv2,
- .onevent = NULL,
- .noconcurrency = 0
- };
-
- /// @brief Initialize the binding.
- ///
- /// @param[in] service Structure which represent the Application Framework Binder.
- ///
- /// @return Exit code, zero if success.
- static int initv2()
- {
- can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
-
- can_bus_manager.set_can_devices();
- can_bus_manager.start_threads();
-
- /// Initialize Diagnostic manager that will handle obd2 requests.
- /// We pass by default the first CAN bus device to its Initialization.
- /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
- if(application_t::instance().get_diagnostic_manager().initialize())
- return 0;
-
- ERROR("There was something wrong with CAN device Initialization.");
- return 1;
- }
-};
diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
deleted file mode 100644
index cf3d999e..00000000
--- a/CAN-binder/low-can-binding/binding/low-can-hat.hpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <cstddef>
-#include <map>
-#include <string>
-#include <memory>
-#include <systemd/sd-event.h>
-
-extern "C"
-{
- #define AFB_BINDING_VERSION 2
- #include <afb/afb-binding.h>
-};
-
-class low_can_subscription_t;
-
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
-int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
-
-void subscribe(struct afb_req request);
-void unsubscribe(struct afb_req request); \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp b/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
deleted file mode 100644
index 5488cc53..00000000
--- a/CAN-binder/low-can-binding/binding/low-can-subscription.cpp
+++ /dev/null
@@ -1,306 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "low-can-hat.hpp"
-
-#include "low-can-subscription.hpp"
-#include "application.hpp"
-#include "canutil/write.h"
-
-low_can_subscription_t::low_can_subscription_t()
- : index_{-1},
- event_filter_{event_filter_t()},
- socket_{}
-{}
-
-low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
- : event_filter_{event_filter}
-{}
-
-low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
- : index_{s.index_},
- event_filter_{s.event_filter_},
- socket_{std::move(s.socket_)}
-{}
-
-low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
-{
- socket_ = std::move(s.socket_);
- return *this;
-}
-
-low_can_subscription_t::~low_can_subscription_t()
-{
- socket_.close();
-}
-
-low_can_subscription_t::operator bool() const
-{
- return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
-}
-
-struct afb_event& low_can_subscription_t::get_event()
-{
- return event_;
-}
-
-int low_can_subscription_t::get_index() const
-{
- return index_;
-}
-
-const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
-{
- return can_signal_;
-}
-
-const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
-{
- return diagnostic_message_;
-}
-
-/// @brief Retrieve a diagnostic_message subscribed from a pid
-///
-/// @param[in] pid - Diagnostic messages PID to search for
-///
-/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
-{
- for(const auto& diag: diagnostic_message_)
- {
- if(diag->get_pid() == pid)
- {
- return diag;
- }
- }
- return nullptr;
-}
-
-/// @brief Retrieve a diagnostic message search from its name
-///
-/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
-const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
-{
- for(const auto& diag: diagnostic_message_)
- {
- if(diag->get_name() == name)
- {
- return diag;
- }
- }
- return nullptr;
-}
-
-/// @brief Return the CAN signal name and empty string if not found
-/// or no CAN signal subscribed
-const std::string low_can_subscription_t::get_name() const
-{
- if (can_signal_ != nullptr)
- return can_signal_->get_name();
-
- return "";
-}
-
-/// @brief Return name from a diagnostic message from a PID
-///
-/// @param[in] pid - Diagnostic message PID
-const std::string low_can_subscription_t::get_name(uint32_t pid) const
-{
- if (!diagnostic_message_.empty())
- return get_diagnostic_message(pid)->get_name() ;
-
- return "";
-}
-
-float low_can_subscription_t::get_frequency() const
-{
- return event_filter_.frequency;
-}
-
-float low_can_subscription_t::get_min() const
-{
- return event_filter_.min;
-}
-
-float low_can_subscription_t::get_max() const
-{
- return event_filter_.max;
-}
-
-utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
-{
- return socket_;
-}
-
-void low_can_subscription_t::set_event(struct afb_event event)
-{
- event_ = event;
-}
-
-void low_can_subscription_t::set_frequency(float freq)
-{
- event_filter_.frequency = freq;
-}
-
-void low_can_subscription_t::set_min(float min)
-{
- event_filter_.min = min;
-}
-
-void low_can_subscription_t::set_max(float max)
-{
- event_filter_.max = max;
-}
-
-/// @brief Based upon which object is subscribed CAN signal or diagnostic message
-/// this will open the socket with the required CAN bus device name.
-///
-/// @return INVALID_SOCKET on failure else positive integer
-int low_can_subscription_t::open_socket()
-{
- int ret = 0;
- if(! socket_)
- {
- if( can_signal_ != nullptr)
- {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
- else if (! diagnostic_message_ .empty())
- {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
- index_ = (int)socket_.socket();
- }
- return ret;
-}
-
-/// @brief Build a BCM message head but don't set can_frame.
-///
-/// @return a simple_bcm_msg with the msg_head parts set and can_frame
-/// zeroed.
-struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
-{
- struct utils::simple_bcm_msg bcm_msg;
-
- memset(&bcm_msg, 0, sizeof(bcm_msg));
-
- bcm_msg.msg_head.opcode = RX_SETUP;
- bcm_msg.msg_head.can_id = can_id;
- bcm_msg.msg_head.flags = flags;
- bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
- bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
- bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
- bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
-
- return bcm_msg;
-}
-
-/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
-/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
-/// a multiplexed message with several can_frame.
-void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
-{
- for(int i=0; i < CAN_MAX_DLEN; i++)
- {
- if(cfd.data[i] != 0)
- {
- bcm_msg.msg_head.nframes = 1;
- bcm_msg.frames = cfd;
- return;
- }
- }
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
-/// subscription
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
-{
- can_signal_= sig;
-
- struct can_frame cfd;
- memset(&cfd, 0, sizeof(cfd));
-
- float val = (float)(1 << can_signal_->get_bit_size()) - 1;
- bitfield_encode_float(val,
- can_signal_->get_bit_position(),
- can_signal_->get_bit_size(),
- can_signal_->get_factor(),
- can_signal_->get_offset(),
- cfd.data,
- CAN_MAX_DLEN);
-
- struct timeval freq, timeout = {0, 0};
- frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
- freq = f.get_timeval_from_period();
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
- add_bcm_frame(cfd, bcm_msg);
-
- return create_rx_filter(bcm_msg);
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket for a
-/// diagnostic message subscription.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
-{
- diagnostic_message_.push_back(sig);
-
- struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
- //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
- struct timeval timeout = {0,0};
-
- utils::simple_bcm_msg bcm_msg = make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
- return create_rx_filter(bcm_msg);
-}
-
-/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. You will not use this method directly but rather use the
-/// two previous method with can_signal_t or diagnostic_message_t object.
-///
-/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
-/// to the 8 classics OBD2 functional response ID
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
-{
- // Make sure that socket has been opened.
- if(open_socket() < 0)
- {return -1;}
-
- // If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
- // else monitor all standard 8 CAN OBD2 ID response.
- if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
- {
- socket_ << bcm_msg;
- if(! socket_)
- return -1;
- }
- else
- {
- for(uint8_t i = 0; i < 8; i++)
- {
- bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i;
-
- socket_ << bcm_msg;
- if(! socket_)
- return -1;
- }
- }
-
- return 0;
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp b/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
deleted file mode 100644
index 0ad7e3a2..00000000
--- a/CAN-binder/low-can-binding/binding/low-can-subscription.hpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
- #pragma once
-
-#include <string>
-#include <cmath>
-#include <utility>
-
-#include "../can/can-signals.hpp"
-#include "../diagnostic/diagnostic-message.hpp"
-#include "../utils/socketcan-bcm.hpp"
-
-/// @brief Filtering values. Theses values has to be tested into
-/// can_bus_t::apply_filter method.
-struct event_filter_t
-{
- float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
- float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
- float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
- event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
-};
-
-/// @brief A subscription object used has a context that handle all needed values to describe a subscription
-/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
-/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
-/// subscriptions is to be in 1 object.
-class low_can_subscription_t
-{
-private:
- int index_; ///< index_ - index number is the socket (int) casted
- struct afb_event event_; ///< event_ - application framework event used to push on client
-
- /// Signal part
- std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
- std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
- /// normal diagnostic request and response not tested for now.
-
- /// Filtering part
- struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
-
- utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
-public:
- low_can_subscription_t();
- low_can_subscription_t(struct event_filter_t event_filter);
- low_can_subscription_t(const low_can_subscription_t& s) = delete;
- low_can_subscription_t(low_can_subscription_t&& s);
- ~low_can_subscription_t();
-
- low_can_subscription_t& operator=(const low_can_subscription_t& s);
- explicit operator bool() const;
-
- int get_index() const;
- struct afb_event& get_event();
- const std::shared_ptr<can_signal_t> get_can_signal() const;
- const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
- const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
- const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
- const std::string get_name() const;
- const std::string get_name(uint32_t pid) const;
- float get_frequency() const;
- float get_min() const;
- float get_max() const;
- utils::socketcan_bcm_t& get_socket();
-
- void set_event(struct afb_event event);
- void set_frequency(float freq);
- void set_min(float min);
- void set_max(float max);
-
- struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
- void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
- int open_socket();
- int create_rx_filter(std::shared_ptr<can_signal_t> sig);
- int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
- int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
-};
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
deleted file mode 100644
index 61673350..00000000
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ /dev/null
@@ -1,337 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <net/if.h>
-#include <sys/socket.h>
-#include <json-c/json.h>
-#include <linux/can/raw.h>
-#include <map>
-#include <cerrno>
-#include <vector>
-#include <string>
-#include <algorithm>
-
-#include "can-bus.hpp"
-
-#include "can-signals.hpp"
-#include "can-decoder.hpp"
-#include "../binding/application.hpp"
-#include "../utils/signals.hpp"
-#include "../utils/openxc-utils.hpp"
-
-/// @brief Class constructor
-///
-/// @param[in] conf_file - handle to the json configuration file.
-can_bus_t::can_bus_t(utils::config_parser_t conf_file)
- : conf_file_{conf_file}
-{}
-
-/// @brief Take a decoded message to determine if its value comply with the wanted
-/// filtering values.
-///
-/// @param[in] vehicle_message - A decoded message to analyze
-/// @param[in] can_subscription - the subscription which will be notified depending
-/// on its filtering values. Filtering values are stored in the event_filtermember.
-///
-/// @return True if the value is compliant with event filter values, false if not...
-bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
-{
- bool send = false;
- if(is_valid(vehicle_message))
- {
- float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
- float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
- double value = get_numerical_from_DynamicField(vehicle_message);
- send = (value < min && value > max) ? false : true;
- }
- return send;
-}
-
-/// @brief Will make the decoding operation on a classic CAN message. It will not
-/// handle CAN commands nor diagnostic messages that have their own method to get
-/// this happens.
-///
-/// It will add to the vehicle_message queue the decoded message and tell the event push
-/// thread to process it.
-///
-/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
-///
-/// @return How many signals has been decoded.
-void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int subscription_id = can_message.get_sub_id();
- openxc_DynamicField decoded_message;
- openxc_VehicleMessage vehicle_message;
-
- // First we have to found which can_signal_t it is
- std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
-
- if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
- {
- bool send = true;
- decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
-
- if(send && apply_filter(vehicle_message, sig))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG("%s CAN signals processed.", sig->get_name().c_str());
- }
- }
-}
-
-/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
-/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
-/// the event push thread to process it.
-///
-/// @param[in] manager - the diagnostic manager object that handle diagnostic communication
-/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
-///
-/// @return How many signals has been decoded.
-void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
-{
- int subscription_id = can_message.get_sub_id();
-
- openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
- if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
- s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
- {
- if (apply_filter(vehicle_message, s[subscription_id]))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG("%s CAN signals processed.", s[subscription_id]->get_name().c_str());
- }
- }
-}
-
-/// @brief thread to decoding raw CAN messages.
-///
-/// Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
-/// then decoding a diagnostic message else use classic CAN signals decoding functions.
-///
-/// It will take from the can_message_q_ queue the next can message to process then it search
-/// about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
-/// subscription has been made. Can message will be decoded using translateSignal that will pass it to the
-/// corresponding decoding function if there is one assigned for that signal. If not, it will be the default
-/// noopDecoder function that will operate on it.
-///
-/// TODO: make diagnostic messages parsing optionnal.
-void can_bus_t::can_decode_message()
-{
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
- while(is_decoding_)
- {
- std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
- new_can_message_cv_.wait(can_message_lock);
- while(!can_message_q_.empty())
- {
- const can_message_t can_message = next_can_message();
- can_message_lock.unlock();
-
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
- if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
- else
- {process_can_signals(can_message, s);}
- }
- can_message_lock.lock();
- }
- new_decoded_can_message_.notify_one();
- can_message_lock.unlock();
- }
-}
-
-/// @brief thread to push events to suscribers. It will read subscribed_signals map to look
-/// which are events that has to be pushed.
-void can_bus_t::can_event_push()
-{
- openxc_SimpleMessage s_message;
- json_object* jo;
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
- while(is_pushing_)
- {
- std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- new_decoded_can_message_.wait(decoded_can_message_lock);
- while(!vehicle_message_q_.empty())
- {
- std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
- decoded_can_message_lock.unlock();
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
- s_message = get_simple_message(v_message.second);
- if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
- {
- jo = json_object_new_object();
- jsonify_simple(s_message, jo);
- if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
- {
- if(v_message.second.has_diagnostic_response)
- {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
- else
- {on_no_clients(s[v_message.first], s);}
- }
- }
- }
- decoded_can_message_lock.lock();
- }
- decoded_can_message_lock.unlock();
- }
-}
-
-/// @brief Will initialize threads that will decode
-/// and push subscribed events.
-void can_bus_t::start_threads()
-{
- is_decoding_ = true;
- th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
- th_decoding_.detach();
-
- is_pushing_ = true;
- th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
- th_pushing_.detach();
-}
-
-/// @brief Will stop all threads holded by can_bus_t object
-/// which are decoding and pushing then will wait that's
-/// they'll finish their job.
-void can_bus_t::stop_threads()
-{
- is_decoding_ = false;
- is_pushing_ = false;
-}
-
-/// @brief return new_can_message_cv_ member
-///
-/// @return return new_can_message_cv_ member
-std::condition_variable& can_bus_t::get_new_can_message_cv()
-{
- return new_can_message_cv_;
-}
-
-/// @brief return can_message_mutex_ member
-///
-/// @return return can_message_mutex_ member
-std::mutex& can_bus_t::get_can_message_mutex()
-{
- return can_message_mutex_;
-}
-
-/// @brief Return first can_message_t on the queue
-///
-/// @return a can_message_t
-const can_message_t can_bus_t::next_can_message()
-{
- can_message_t can_msg;
-
- if(!can_message_q_.empty())
- {
- can_msg = can_message_q_.front();
- can_message_q_.pop();
- DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
- can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
- return can_msg;
- }
-
- return can_msg;
-}
-
-/// @brief Push a can_message_t into the queue
-///
-/// @param[in] can_msg - the const reference can_message_t object to push into the queue
-void can_bus_t::push_new_can_message(const can_message_t& can_msg)
-{
- can_message_q_.push(can_msg);
-}
-
-/// @brief Return first openxc_VehicleMessage on the queue
-///
-/// @return a openxc_VehicleMessage containing a decoded can message
-std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
-{
- std::pair<int, openxc_VehicleMessage> v_msg;
-
- if(! vehicle_message_q_.empty())
- {
- v_msg = vehicle_message_q_.front();
- vehicle_message_q_.pop();
- DEBUG("next vehicle message poped");
- return v_msg;
- }
-
- return v_msg;
-}
-
-/// @brief Push a openxc_VehicleMessage into the queue
-///
-/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
-void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
-{
- vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
-}
-
-/// @brief Fills the CAN device map member with value from device
-/// mapping configuration file read at initialization.
-void can_bus_t::set_can_devices()
-{
- can_devices_ = conf_file_.get_devices_name();
-
- if(can_devices_.empty())
- {
- ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
- conf_file_.filepath().c_str());
- }
-}
-
-
-/// @brief Return the CAN device index from the map
-/// map are sorted so index depend upon alphabetical sorting.
-int can_bus_t::get_can_device_index(const std::string& bus_name) const
-{
- int i = 0;
- for(const auto& d: can_devices_)
- {
- if(d.first == bus_name)
- break;
- i++;
- }
- return i;
-}
-
-/// @brief Return CAN device name from a logical CAN device name gotten from
-/// the signals.json description file which comes from a CAN databases file in
-/// general.
-const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
-{
- std::string ret;
- for(const auto& d: can_devices_)
- {
- if(d.first == id_name)
- {
- ret = d.second;
- break;
- }
- }
- return ret;
-}
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
deleted file mode 100644
index a76d3e87..00000000
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ /dev/null
@@ -1,94 +0,0 @@
-/*
- * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <utility>
-#include <mutex>
-#include <queue>
-#include <thread>
-#include <linux/can.h>
-#include <condition_variable>
-
-#include "openxc.pb.h"
-#include "can-message.hpp"
-#include "../utils/config-parser.hpp"
-#include "../binding/low-can-hat.hpp"
-#include "../binding/low-can-subscription.hpp"
-
-// TODO actual max is 32 but dropped to 24 for memory considerations
-#define MAX_ACCEPTANCE_FILTERS 24
-// TODO this takes up a ton of memory
-#define MAX_DYNAMIC_MESSAGE_COUNT 12
-
-#define CAN_ACTIVE_TIMEOUT_S 30
-
-class diagnostic_manager_t;
-
-/// @brief Object used to handle decoding and manage event queue to be pushed.
-///
-/// This object is also used to initialize can_bus_dev_t object after reading
-/// json conf file describing the CAN devices to use. Thus, those object will read
-/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
-///
-/// That queue will be later used to be decoded and pushed to subscribers.
-class can_bus_t
-{
-private:
- utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
-
- bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
- void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
- void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
-
- void can_decode_message();
- std::thread th_decoding_; ///< thread that'll handle decoding a can frame
- bool is_decoding_ = false; ///< boolean member controling thread while loop
-
- void can_event_push();
- std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
- bool is_pushing_ = false; ///< boolean member controling thread while loop
-
- std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
- std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
- std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
-
- std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
- std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue.
- std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
-
- std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names.
-public:
- explicit can_bus_t(utils::config_parser_t conf_file);
- can_bus_t(can_bus_t&&);
-
- void set_can_devices();
- int get_can_device_index(const std::string& bus_name) const;
- const std::string get_can_device_name(const std::string& id_name) const;
-
- void start_threads();
- void stop_threads();
-
- const can_message_t next_can_message();
- void push_new_can_message(const can_message_t& can_msg);
- std::mutex& get_can_message_mutex();
- std::condition_variable& get_new_can_message_cv();
-
- std::pair<int, openxc_VehicleMessage> next_vehicle_message();
- void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
-};
diff --git a/CAN-binder/low-can-binding/can/can-command.hpp b/CAN-binder/low-can-binding/can/can-command.hpp
deleted file mode 100644
index 4cf20cb5..00000000
--- a/CAN-binder/low-can-binding/can/can-command.hpp
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include "openxc.pb.h"
-#include "can-signals.hpp"
-
-///
-/// @brief The type signature for a function to handle a custom OpenXC command.
-///
-/// @param[in] name - the name of the received command.
-/// @param[in] value - the value of the received command, in a DynamicField. The actual type
-/// may be a number, string or bool.
-/// @param[in] event - an optional event from the received command, in a DynamicField. The
-/// actual type may be a number, string or bool.
-/// @param[in] signals - The list of all signals.
-/// @param[in] signalCount - The length of the signals array.
-///
-typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
- openxc_DynamicField* event, can_signal_t* signals, int signalCount);
-
-/// @struct CanCommand
-/// @brief The structure to represent a supported custom OpenXC command.
-///
-/// For completely customized CAN commands without a 1-1 mapping between an
-/// OpenXC message from the host and a CAN signal, you can define the name of the
-/// command and a custom function to handle it in the VI. An example is
-/// the "turn_signal_status" command in OpenXC, which has a value of "left" or
-/// "right". The vehicle may have separate CAN signals for the left and right
-/// turn signals, so you will need to implement a custom command handler to send
-/// the correct signals.
-///
-/// Command handlers are also useful if you want to trigger multiple CAN messages
-/// or signals from a signal OpenXC message.
-///
-typedef struct {
- const char* generic_name; /*!< generic_name - The name of the command.*/
- CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
- * action.*/
-} CanCommand;
diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp
deleted file mode 100644
index 61bfe753..00000000
--- a/CAN-binder/low-can-binding/can/can-decoder.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "can-decoder.hpp"
-
-#include "canutil/read.h"
-#include "../utils/openxc-utils.hpp"
-#include "can-message-definition.hpp"
-#include "../binding/low-can-hat.hpp"
-
-/// @brief Parse the signal's bitfield from the given data and return the raw
-/// value.
-///
-/// @param[in] signal - The signal to parse from the data.
-/// @param[in] message - can_message_t to parse
-///
-/// @return Returns the raw value of the signal parsed as a bitfield from the given byte
-/// array.
-///
-float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message)
-{
- return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
- signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
- signal.get_offset());
-}
-
-/// @brief Wrap a raw CAN signal value in a DynamicField without modification.
-///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
-///
-/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals
-/// @param[in] value - The numerical value that will be wrapped in a DynamicField.
-/// @param[out] send - An output argument that will be set to false if the value should
-/// not be sent for any reason.
-///
-/// @return Returns a DynamicField with the original, unmodified raw CAN signal value as
-/// its numeric value. The 'send' argument will not be modified as this decoder
-/// always succeeds.
-///
-openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
-{
- openxc_DynamicField decoded_value = build_DynamicField(value);
-
- return decoded_value;
-}
-/// @brief Coerces a numerical value to a boolean.
-///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
-///
-/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals
-/// @param[in] value - The numerical value that will be converted to a boolean.
-/// @param[out] send - An output argument that will be set to false if the value should
-/// not be sent for any reason.
-///
-/// @return Returns a DynamicField with a boolean value of false if the raw signal value
-/// is 0.0, otherwise true. The 'send' argument will not be modified as this
-/// decoder always succeeds.
-///
-openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
-{
- openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
-
- return decoded_value;
-}
-/// @brief Update the metadata for a signal and the newly received value.
-///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
-///
-/// This function always flips 'send' to false.
-///
-/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals.
-/// @param[in] value - The numerical value that will be converted to a boolean.
-/// @param[out] send - This output argument will always be set to false, so the caller will
-/// know not to publish this value to the pipeline.
-///
-/// @return Return value is undefined.
-///
-openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
-{
- if(send)
- *send = false;
-
- openxc_DynamicField decoded_value;
-
- return decoded_value;
-}
-
-/// @brief Find and return the corresponding string state for a CAN signal's
-/// raw integer value.
-///
-/// This is an implementation of the SignalDecoder type signature, and can be
-/// used directly in the can_signal_t.decoder field.
-///
-/// @param[in] signal - The details of the signal that contains the state mapping.
-/// @param[in] signals - The list of all signals.
-/// @param[in] value - The numerical value that should map to a state.
-/// @param[out] send - An output argument that will be set to false if the value should
-/// not be sent for any reason.
-///
-/// @return Returns a DynamicField with a string value if a matching state is found in
-/// the signal. If an equivalent isn't found, send is sent to false and the
-/// return value is undefined.
-///
-openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
-{
- const std::string signal_state = signal.get_states((uint8_t)value);
- openxc_DynamicField decoded_value = build_DynamicField(signal_state);
- if(signal_state.size() <= 0)
- {
- *send = false;
- ERROR("No state found with index: %d", (int)value);
- }
- return decoded_value;
-}
-
-
-/// @brief Parse a signal from a CAN message, apply any required transforations
-/// to get a human readable value and public the result to the pipeline.
-///
-/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
-/// will be passed to the decoder before publishing.
-///
-/// @param[in] signal - The details of the signal to decode and forward.
-/// @param[in] message - The received CAN message that should contain this signal.
-/// @param[in] signals - an array of all active signals.
-/// @param[out] send - An output parameter that will be flipped to false if the value could
-/// not be decoded.
-///
-/// The decoder returns an openxc_DynamicField, which may contain a number,
-/// string or boolean.
-///
-openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
-{
- float value = decoder_t::parseSignalBitfield(signal, message);
- DEBUG("Decoded message from parseSignalBitfield: %f", value);
-
- // Must call the decoders every time, regardless of if we are going to
- // decide to send the signal or not.
- openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal,
- value, signals, send);
-
- signal.set_received(true);
-
- // Don't send if they is no changes
- if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
- {
- *send = false;
- }
- signal.set_last_value(value);
- signal.set_timestamp(message.get_timestamp());
- signal.get_message()->set_last_value(message);
- return decoded_value;
-}
-
-/// @brief Parse a signal from a CAN message and apply any required
-/// transforations to get a human readable value.
-///
-/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
-/// will be passed to the decoder before returning.
-///
-/// @param[in] signal - The details of the signal to decode and forward.
-/// @param[in] value - The numerical value that will be converted to a boolean.
-/// @param[in] signals - an array of all active signals.
-/// @param[out] send - An output parameter that will be flipped to false if the value could
-/// not be decoded.
-///
-/// @return The decoder returns an openxc_DynamicField, which may contain a number,
-/// string or boolean. If 'send' is false, the return value is undefined.
-///
-openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
- float value, const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
-{
- SignalDecoder decoder = signal.get_decoder() == nullptr ?
- noopDecoder : signal.get_decoder();
- openxc_DynamicField decoded_value = decoder(signal, signals,
- value, send);
- return decoded_value;
-}
-
-/// @brief Decode a transformed, human readable value from an raw CAN signal
-/// already parsed from a CAN message.
-///
-/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN
-/// message yourself. This is useful if you need that raw value for something
-/// else.
-///
-/// @param[in] signal - The details of the signal to decode and forward.
-/// @param[in] message - Raw CAN message to decode
-/// @param[in] signals - an array of all active signals.
-/// @param[out] send - An output parameter that will be flipped to false if the value could
-/// not be decoded.
-///
-openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
- const can_message_t& message, const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
-{
- float value = parseSignalBitfield(signal, message);
- return decodeSignal(signal, value, signals, send);
-}
-
-
-///
-/// @brief Decode the payload of an OBD-II PID.
-///
-/// This function matches the type signature for a DiagnosticResponseDecoder, so
-/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded
-/// value of the PID, using the standard formulas (see
-/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
-///
-/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
-/// a byte array). This is most often used when the byte order is
-/// signiticant, i.e. with many OBD-II PID formulas.
-/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
-///
-/// @return Float decoded value.
-///
-float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload)
-{
- return diagnostic_decode_obd2_pid(response);
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-decoder.hpp b/CAN-binder/low-can-binding/can/can-decoder.hpp
deleted file mode 100644
index 7eaa4a72..00000000
--- a/CAN-binder/low-can-binding/can/can-decoder.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include "can-signals.hpp"
-#include "can-message.hpp"
-#include "openxc.pb.h"
-
-class decoder_t
-{
-public:
- static float parseSignalBitfield(can_signal_t& signal, const can_message_t& message);
-
- static openxc_DynamicField stateDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
- float value, bool* send);
- static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
- float value, bool* send);
- static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
- float value, bool* send);
- static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
- float value, bool* send);
-
- static openxc_DynamicField translateSignal(can_signal_t& signal, const can_message_t& message,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
-
- static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
-
- static openxc_DynamicField decodeSignal(can_signal_t& signal, float value,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
-
- static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload);
-
-}; \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.cpp b/CAN-binder/low-can-binding/can/can-message-definition.cpp
deleted file mode 100644
index 28d45fe5..00000000
--- a/CAN-binder/low-can-binding/can/can-message-definition.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "can-message-definition.hpp"
-
-#include "../binding/application.hpp"
-
-can_message_definition_t::can_message_definition_t(const std::string bus)
- : parent_{nullptr}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE}
-{}
-
-can_message_definition_t::can_message_definition_t(
- const std::string bus,
- uint32_t id,
- frequency_clock_t frequency_clock,
- bool force_send_changed)
- : parent_{nullptr},
- bus_{bus},
- id_{id},
- frequency_clock_{frequency_clock},
- force_send_changed_{force_send_changed},
- last_value_{CAN_MESSAGE_SIZE}
-{}
-
-can_message_definition_t::can_message_definition_t(
- const std::string bus,
- uint32_t id,
- can_message_format_t format,
- frequency_clock_t frequency_clock,
- bool force_send_changed)
- : parent_{nullptr},
- bus_{bus},
- id_{id},
- format_{format},
- frequency_clock_{frequency_clock},
- force_send_changed_{force_send_changed},
- last_value_{CAN_MESSAGE_SIZE}
-{}
-
-can_message_definition_t::can_message_definition_t(
- const std::string bus,
- uint32_t id,
- can_message_format_t format,
- frequency_clock_t frequency_clock,
- bool force_send_changed,
- const std::vector<std::shared_ptr<can_signal_t> >& can_signals)
- : parent_{nullptr},
- bus_{bus},
- id_{id},
- format_{format},
- frequency_clock_{frequency_clock},
- force_send_changed_{force_send_changed},
- last_value_{CAN_MESSAGE_SIZE},
- can_signals_{can_signals}
-{}
-
-const std::string can_message_definition_t::get_bus_name() const
-{
- return bus_;
-}
-
-const std::string can_message_definition_t::get_bus_device_name() const
-{
- return application_t::instance().get_can_bus_manager()
- .get_can_device_name(bus_);
-}
-
-uint32_t can_message_definition_t::get_id() const
-{
- return id_;
-}
-
-std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
-{
- return can_signals_;
-}
-
-void can_message_definition_t::set_parent(can_message_set_t* parent)
-{
- parent_= parent;
-}
-
-void can_message_definition_t::set_last_value(const can_message_t& cm)
-{
- last_value_= cm.get_data_vector();
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp
deleted file mode 100644
index 6d0f17d6..00000000
--- a/CAN-binder/low-can-binding/can/can-message-definition.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/**
- * @class can_message_definition_t
- *
- * @brief The definition of a CAN message. This includes a lot of metadata, so
- * to save memory this struct should not be used for storing incoming and
- * outgoing CAN messages.
- */
-
-#pragma once
-
-#include <vector>
-#include <memory>
-
-#include "can-signals.hpp"
-#include "can-message.hpp"
-#include "can-message-set.hpp"
-#include "../utils/timer.hpp"
-
-class can_message_set_t;
-
-/// @brief The definition of a CAN message. This includes a lot of metadata, so
-/// to save memory this class gets the can_signal_t object related to a CAN message.
-class can_message_definition_t
-{
-private:
- can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
- std::string bus_; ///< bus_ - Address of CAN bus device. */
- uint32_t id_; ///< id_ - The ID of the message.*/
- can_message_format_t format_; ///< format_ - the format of the message's ID.*/
- frequency_clock_t frequency_clock_; ///< clock_ - an optional frequency clock to control the output of this
- /// message, if sent raw, or simply to mark the max frequency for custom
- /// handlers to retrieve.*/
- bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN
- /// message if it has changed when using raw passthrough.*/
- std::vector<uint8_t> last_value_; ///< last_value_ - The last received value of the message. Defaults to undefined.
- /// This is required for the forceSendChanged functionality, as the stack
- /// needs to compare an incoming CAN message with the previous frame.*/
- std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */
-
-public:
- //can_message_definition_t(const can_message_definition_t& b);
- can_message_definition_t(const std::string bus);
- can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
- can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
- can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
-
- const std::string get_bus_name() const;
- const std::string get_bus_device_name() const;
- uint32_t get_id() const;
- std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
-
- void set_parent(can_message_set_t* parent);
- void set_last_value(const can_message_t& cm);
-};
diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp
deleted file mode 100644
index c31dec62..00000000
--- a/CAN-binder/low-can-binding/can/can-message-set.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "can-message-set.hpp"
-
-#include "../can/can-message-definition.hpp"
-
-can_message_set_t::can_message_set_t(
- uint8_t index,
- const std::string& name,
- const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition,
- const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages)
- : index_{index}
- , name_{name}
- , can_messages_definition_{can_messages_definition}
- , diagnostic_messages_{diagnostic_messages}
-{}
-
-/// @brief Return vector holding all message definition handled by this message set.
-std::vector<std::shared_ptr<can_message_definition_t> >& can_message_set_t::get_can_message_definition()
-{
- return can_messages_definition_;
-}
-
-std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signals() const
-{
- std::vector<std::shared_ptr<can_signal_t> > can_signals;
- for(const auto& cmd: can_messages_definition_)
- {
- std::vector<std::shared_ptr<can_signal_t> >& cmd_signals = cmd->get_can_signals();
- can_signals.insert( can_signals.end(),
- cmd_signals.begin(),
- cmd_signals.end()
- );
- }
-
- return can_signals;
-}
-
-/// @brief Return vector holding all diagnostic messages definitions handled by this message set.
-std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages()
-{
- return diagnostic_messages_;
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp
deleted file mode 100644
index 2a7cb53c..00000000
--- a/CAN-binder/low-can-binding/can/can-message-set.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <cstdint>
-#include <string>
-#include <vector>
-#include <memory>
-
-class can_signal_t;
-class can_message_definition_t;
-class diagnostic_message_t;
-
-/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages
-/// (e.g. a vehicle or program).
-class can_message_set_t
-{
-private:
- uint8_t index_; /// < A numerical ID for the message set, ideally the index in an array for fast lookup
- const std::string name_; /// < The name of the message set.
- std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition_; ///< Vector holding all message definition handled by this message set.
- std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages_; ///< Vector holding all diagnostics messages from JSON signals description file. First vector map to message set
-
-public:
- can_message_set_t(
- uint8_t index,
- const std::string& name,
- const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition,
- const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages);
-
- std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition();
- std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals() const;
- std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages();
-};
diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
deleted file mode 100644
index 057bc71f..00000000
--- a/CAN-binder/low-can-binding/can/can-message.cpp
+++ /dev/null
@@ -1,389 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "can-message.hpp"
-
-#include <cstring>
-
-#include "../binding/low-can-hat.hpp"
-
-///
-/// @brief Class constructor
-///
-/// Constructor about can_message_t class.
-///
-can_message_t::can_message_t()
- : maxdlen_{0},
- id_{0},
- length_{0},
- format_{can_message_format_t::INVALID},
- rtr_flag_{false},
- flags_{0},
- timestamp_{0},
- sub_id_{-1}
-{}
-
-can_message_t::can_message_t(uint8_t maxdlen,
- uint32_t id,
- uint8_t length,
- can_message_format_t format,
- bool rtr_flag,
- uint8_t flags,
- std::vector<uint8_t>& data,
- uint64_t timestamp)
- : maxdlen_{maxdlen},
- id_{id},
- length_{length},
- format_{format},
- rtr_flag_{rtr_flag},
- flags_{flags},
- data_{data},
- timestamp_{timestamp},
- sub_id_{-1}
-{}
-
-///
-/// @brief Retrieve id_ member value.
-///
-/// @return id_ class member
-///
-uint32_t can_message_t::get_id() const
-{
- return id_;
-}
-
-int can_message_t::get_sub_id() const
-{
- return sub_id_;
-}
-
-///
-/// @brief Retrieve RTR flag member.
-///
-/// @return rtr_flags_ class member
-///
-bool can_message_t::get_rtr_flag_() const
-{
- return rtr_flag_;
-}
-
-///
-/// @brief Retrieve format_ member value.
-///
-/// @return format_ class member. Default to INVALID.
-///
-can_message_format_t can_message_t::get_format() const
-{
- if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
- return can_message_format_t::INVALID;
- return format_;
-}
-
-///
-/// @brief Retrieve flags_ member value.
-///
-/// @return flags_ class member
-///
-uint8_t can_message_t::get_flags() const
-{
- return flags_;
-}
-
-///
-/// @brief Retrieve data_ member value.
-///
-/// @return pointer to the first element
-/// of class member data_
-///
-const uint8_t* can_message_t::get_data() const
-{
- return data_.data();
-}
-
-///
-/// @brief Retrieve data_ member whole vector
-///
-/// @return the vector as is
-///
-const std::vector<uint8_t> can_message_t::get_data_vector() const
-{
- return data_;
-}
-
-///
-/// @brief Retrieve length_ member value.
-///
-/// @return length_ class member
-///
-uint8_t can_message_t::get_length() const
-{
- return length_;
-}
-
-void can_message_t::set_sub_id(int sub_id)
-{
- sub_id_ = sub_id;
-}
-
-uint64_t can_message_t::get_timestamp() const
-{
- return timestamp_;
-}
-
-void can_message_t::set_timestamp(uint64_t timestamp)
-{
- timestamp_ = timestamp;
-}
-
-/// @brief Control whether the object is correctly initialized
-/// to be sent over the CAN bus
-///
-/// @return True if object correctly initialized and false if not.
-bool can_message_t::is_correct_to_send()
-{
- if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
- {
- int i;
- for(i=0;i<CAN_MESSAGE_SIZE;i++)
- if(data_[i] != 0)
- return true;
- }
- return false;
-}
-
-/// @brief Set format_ member value.
-///
-/// Preferred way to initialize these members by using
-/// convert_from_canfd_frame method.
-///
-/// @param[in] new_format - class member
-void can_message_t::set_format(const can_message_format_t new_format)
-{
- if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
- format_ = new_format;
- else
- ERROR("Can set format, wrong format chosen");
-}
-
-/// @brief Take a canfd_frame struct to initialize class members
-///
-/// This is the preferred way to initialize class members.
-///
-/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
-/// @param[in] nbytes - bytes read from socket read operation.
-///
-/// @return A can_message_t object fully initialized with canfd_frame values.
-can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
-{
- uint8_t maxdlen, length, flags = (uint8_t)NULL;
- uint32_t id;
- can_message_format_t format;
- bool rtr_flag;
- std::vector<uint8_t> data;
-
- switch(nbytes)
- {
- case CANFD_MTU:
- DEBUG("Got an CAN FD frame");
- maxdlen = CANFD_MAX_DLEN;
- break;
- case CAN_MTU:
- DEBUG("Got a legacy CAN frame");
- maxdlen = CAN_MAX_DLEN;
- break;
- default:
- ERROR("unsupported CAN frame");
- break;
- }
-
- if (frame.can_id & CAN_ERR_FLAG)
- {
- format = can_message_format_t::INVALID;
- id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- }
- else if (frame.can_id & CAN_EFF_FLAG)
- {
- format = can_message_format_t::EXTENDED;
- id = frame.can_id & CAN_EFF_MASK;
- }
- else
- {
- format = can_message_format_t::STANDARD;
- id = frame.can_id & CAN_SFF_MASK;
- }
-
- /* Overwrite length_ if RTR flags is detected.
- * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
- if (frame.can_id & CAN_RTR_FLAG)
- {
- rtr_flag = true;
- if(frame.len && frame.len <= CAN_MAX_DLC)
- {
- if(rtr_flag)
- length = frame.len& 0xF;
- else
- {
- length = (frame.len > maxdlen) ? maxdlen : frame.len;
- }
- }
- }
- else
- {
- length = (frame.len > maxdlen) ? maxdlen : frame.len;
-
- /* Flags field only present for CAN FD frames*/
- if(maxdlen == CANFD_MAX_DLEN)
- flags = frame.flags & 0xF;
-
- if (data.capacity() < maxdlen)
- data.reserve(maxdlen);
- int i;
-
- data.clear();
- /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
- for(i=0;i<maxdlen;i++)
- {
- data.push_back(frame.data[i]);
- };
-
- DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
- id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
- }
-
- return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
-}
-
-/// @brief Take a can_frame struct to initialize class members
-///
-/// This is the preferred way to initialize class members.
-///
-/// @param[in] frame - can_frame to convert coming from a read of CAN socket
-/// @param[in] nbytes - bytes read from socket read operation.
-///
-/// @return A can_message_t object fully initialized with can_frame values.
-can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
-{
- uint8_t maxdlen, length, flags = (uint8_t)NULL;
- uint32_t id;
- can_message_format_t format;
- bool rtr_flag;
- std::vector<uint8_t> data;
-
- if(nbytes <= CAN_MTU)
- {
- DEBUG("Got a legacy CAN frame");
- maxdlen = CAN_MAX_DLEN;
- }
- else
- {
- ERROR("unsupported CAN frame");
- }
-
- if (frame.can_id & CAN_ERR_FLAG)
- {
- format = can_message_format_t::INVALID;
- id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- }
- else if (frame.can_id & CAN_EFF_FLAG)
- {
- format = can_message_format_t::EXTENDED;
- id = frame.can_id & CAN_EFF_MASK;
- }
- else
- {
- format = can_message_format_t::STANDARD;
- id = frame.can_id & CAN_SFF_MASK;
- }
-
- /* Overwrite length_ if RTR flags is detected.
- * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
- if (frame.can_id & CAN_RTR_FLAG)
- {
- rtr_flag = true;
- if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
- {
- if(rtr_flag)
- length = frame.can_dlc& 0xF;
- else
- {
- length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
- }
- }
- }
- else
- {
- length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
-
- if (data.capacity() < maxdlen)
- data.reserve(maxdlen);
- int i;
-
- data.clear();
- /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
- for(i=0;i<maxdlen;i++)
- {
- data.push_back(frame.data[i]);
- };
-
-// DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
-// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
- }
-
- return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
-}
-
-/// @brief Take all initialized class's members and build an
-/// canfd_frame struct that can be use to send a CAN message over
-/// the bus.
-///
-/// @return canfd_frame struct built from class members.
-struct canfd_frame can_message_t::convert_to_canfd_frame()
-{
- canfd_frame frame;
-
- if(is_correct_to_send())
- {
- frame.can_id = get_id();
- frame.len = get_length();
- ::memcpy(frame.data, get_data(), length_);
- }
- else
- ERROR("can_message_t not correctly initialized to be sent");
-
- return frame;
-}
-
-/// @brief Take all initialized class's members and build an
-/// can_frame struct that can be use to send a CAN message over
-/// the bus.
-///
-/// @return can_frame struct built from class members.
-struct can_frame can_message_t::convert_to_can_frame()
-{
- can_frame frame;
-
- if(is_correct_to_send())
- {
- frame.can_id = get_id();
- frame.can_dlc = get_length();
- ::memcpy(frame.data, get_data(), length_);
- }
- else
- ERROR("can_message_t not correctly initialized to be sent");
-
- return frame;
-}
diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp
deleted file mode 100644
index b206ebdb..00000000
--- a/CAN-binder/low-can-binding/can/can-message.hpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <vector>
-#include <string>
-#include <cstdint>
-#include <linux/can.h>
-
-#include "../utils/timer.hpp"
-
-#define CAN_MESSAGE_SIZE 8
-
-/**
- * @enum can_message_format_t
- * @brief The ID format for a CAN message.
- */
-enum class can_message_format_t {
- STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
- EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
- INVALID, ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
-};
-
-/// @class can_message_t
-///
-/// @brief A compact representation of a single CAN message, meant to be used in in/out
-/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
-class can_message_t {
-private:
- uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
- uint32_t id_; ///< id_ - The ID of the message. */
- uint8_t length_; ///< length_ - the length of the data array (max 8). */
- can_message_format_t format_; ///< format_ - the format of the message's ID.*/
- bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
- uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
- std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
- uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
- int sub_id_; ///< sub_id_ - Subscription index. */
-
-public:
- can_message_t();
- can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
-
- uint32_t get_id() const;
- int get_sub_id() const;
- bool get_rtr_flag_() const;
- can_message_format_t get_format() const;
- uint8_t get_flags() const;
- const uint8_t* get_data() const;
- const std::vector<uint8_t> get_data_vector() const;
- uint8_t get_length() const;
- uint64_t get_timestamp() const;
-
- void set_sub_id(int sub_id);
- void set_timestamp(uint64_t timestamp);
- void set_format(const can_message_format_t new_format);
-
- bool is_correct_to_send();
-
- static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
- static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
-
- struct canfd_frame convert_to_canfd_frame();
- struct can_frame convert_to_can_frame();
-};
diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp
deleted file mode 100644
index fe74115c..00000000
--- a/CAN-binder/low-can-binding/can/can-signals.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <fnmatch.h>
-
-#include "can-signals.hpp"
-
-#include "../binding/application.hpp"
-#include "../utils/signals.hpp"
-#include "can-decoder.hpp"
-#include "can-message.hpp"
-#include "can-bus.hpp"
-#include "../diagnostic/diagnostic-message.hpp"
-#include "canutil/write.h"
-
-std::string can_signal_t::prefix_ = "messages";
-
-can_signal_t::can_signal_t(
- std::string generic_name,
- uint8_t bit_position,
- uint8_t bit_size,
- float factor,
- float offset,
- float min_value,
- float max_value,
- frequency_clock_t frequency,
- bool send_same,
- bool force_send_changed,
- std::map<uint8_t, std::string> states,
- bool writable,
- SignalDecoder decoder,
- SignalEncoder encoder,
- bool received)
- : parent_{nullptr},
- generic_name_{ generic_name }
- , bit_position_{ bit_position }
- , bit_size_{ bit_size }
- , factor_{ factor }
- , offset_{ offset }
- , min_value_{min_value}
- , max_value_{max_value}
- , frequency_{frequency}
- , send_same_{send_same}
- , force_send_changed_{force_send_changed}
- , states_{states}
- , writable_{writable}
- , decoder_{decoder}
- , encoder_{encoder}
- , received_{received}
- , last_value_{.0f}
-{}
-
-can_message_definition_t* can_signal_t::get_message() const
-{
- return parent_;
-}
-
-const std::string can_signal_t::get_generic_name() const
-{
- return generic_name_;
-}
-
-const std::string can_signal_t::get_name() const
-{
- return prefix_ + "." + generic_name_;
-}
-
-const std::string can_signal_t::get_prefix() const
-{
- return prefix_;
-}
-
-uint8_t can_signal_t::get_bit_position() const
-{
- return bit_position_;
-}
-
-uint8_t can_signal_t::get_bit_size() const
-{
- return bit_size_;
-}
-
-float can_signal_t::get_factor() const
-{
- return factor_;
-}
-
-float can_signal_t::get_offset() const
-{
- return offset_;
-}
-
-float can_signal_t::get_min_value() const
-{
- return min_value_;
-}
-
-float can_signal_t::get_max_value() const
-{
- return max_value_;
-}
-
-frequency_clock_t& can_signal_t::get_frequency()
-{
- return frequency_;
-}
-
-bool can_signal_t::get_send_same() const
-{
- return send_same_;
-}
-
-bool can_signal_t::get_force_send_changed() const
-{
- return force_send_changed_;
-}
-
-const std::map<uint8_t, std::string>& can_signal_t::get_states() const
-{
- return states_;
-}
-
-const std::string can_signal_t::get_states(uint8_t value)
-{
- if (value < states_.size())
- return states_[value];
- return std::string();
-}
-
-size_t can_signal_t::get_state_count() const
-{
- return states_.size();
-}
-
-bool can_signal_t::get_writable() const
-{
- return writable_;
-}
-
-SignalDecoder& can_signal_t::get_decoder()
-{
- return decoder_;
-}
-
-SignalEncoder& can_signal_t::get_encoder()
-{
- return encoder_;
-}
-
-bool can_signal_t::get_received() const
-{
- return received_;
-}
-
-float can_signal_t::get_last_value() const
-{
- return last_value_;
-}
-
-std::pair<float, uint64_t> can_signal_t::get_last_value_with_timestamp() const
-{
- return std::make_pair(last_value_, frequency_.get_last_tick());
-}
-
-void can_signal_t::set_parent(can_message_definition_t* parent)
-{
- parent_ = parent;
-}
-
-void can_signal_t::set_prefix(std::string val)
-{
- prefix_ = val;
-}
-
-void can_signal_t::set_received(bool r)
-{
- received_ = r;
-}
-
-void can_signal_t::set_last_value(float val)
-{
- last_value_ = val;
-}
-
-void can_signal_t::set_timestamp(uint64_t timestamp)
-{
- frequency_.tick(timestamp);
-}
-
diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp
deleted file mode 100644
index a56fc8cd..00000000
--- a/CAN-binder/low-can-binding/can/can-signals.hpp
+++ /dev/null
@@ -1,151 +0,0 @@
-///
-/// Copyright (C) 2015, 2016 "IoT.bzh"
-/// Author "Romain Forlot" <romain.forlot@iot.bzh>
-///
-/// Licensed under the Apache License, Version 2.0 (the "License");
-/// you may not use this file except in compliance with the License.
-/// You may obtain a copy of the License at
-///
-/// http://www.apache.org/licenses/LICENSE-2.0
-///
-/// Unless required by applicable law or agreed to in writing, software
-/// distributed under the License is distributed on an "AS IS" BASIS,
-/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-/// See the License for the specific language governing permissions and
-/// limitations under the License.
-///
-
-#pragma once
-
-#include <map>
-#include <mutex>
-#include <vector>
-#include <string>
-#include <memory>
-
-#include "openxc.pb.h"
-#include "can-message-definition.hpp"
-#include "../utils/timer.hpp"
-#include "../utils/socketcan-bcm.hpp"
-#include "can-message.hpp"
-#include "../diagnostic/diagnostic-message.hpp"
-
-#define MESSAGE_SET_ID 0
-
-class can_signal_t;
-///
-/// @brief The type signature for a CAN signal decoder.
-///
-/// A SignalDecoder transforms a raw floating point CAN signal into a number,
-/// string or boolean.
-///
-/// @param[in] signal - The CAN signal that we are decoding.
-/// @param[in] signals - The list of all signals.
-/// @param[in] signalCount - The length of the signals array.
-/// @param[in] value - The CAN signal parsed from the message as a raw floating point
-/// value.
-/// @param[out] send - An output parameter. If the decoding failed or the CAN signal should
-/// not send for some other reason, this should be flipped to false.
-///
-/// @return a decoded value in an openxc_DynamicField struct.
-///
-typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
- const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send);
-
-///
-/// @brief: The type signature for a CAN signal encoder.
-///
-/// A SignalEncoder transforms a number, string or boolean into a raw floating
-/// point value that fits in the CAN signal.
-///
-/// @param[in] signal - The CAN signal to encode.
-/// @param[in] value - The dynamic field to encode.
-/// @param[out] send - An output parameter. If the encoding failed or the CAN signal should
-/// not be encoded for some other reason, this will be flipped to false.
-///
-typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
- openxc_DynamicField* value, bool* send);
-
-class can_signal_t
-{
-private:
- can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/
- std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
- static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
- * which make easier to sort message when the come in.*/
- uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
- * non-inverted bit numbering, i.e. the most significant bit of
- * each byte is 0) */
- uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
- float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
- * don't need a factor. */
- float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
- * don't need an offset. */
- float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
- float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
- frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
- * process and send this signal. To process every value, set the
- * clock's frequency to 0. */
- bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
- bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
- * value if it has changed. */
- std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
- * between numerical and string values for valid states. */
- bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host
- * back to CAN. Defaults to false.*/
- SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
- * readable value. If NULL, the default numerical decoder is used. */
- SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
- * CAN into a byte array. If NULL, the default numerical encoder
- * is used. */
- bool received_; /*!< received_ - True if this signal has ever been received.*/
- float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
- * this value is undefined. */
-
-public:
- can_signal_t(
- std::string generic_name,
- uint8_t bit_position,
- uint8_t bit_size,
- float factor,
- float offset,
- float min_value,
- float max_value,
- frequency_clock_t frequency,
- bool send_same,
- bool force_send_changed,
- std::map<uint8_t, std::string> states,
- bool writable,
- SignalDecoder decoder,
- SignalEncoder encoder,
- bool received);
-
- can_message_definition_t* get_message() const;
- const std::string get_generic_name() const;
- const std::string get_name() const;
- const std::string get_prefix() const;
- uint8_t get_bit_position() const;
- uint8_t get_bit_size() const;
- float get_factor() const;
- float get_offset() const;
- float get_min_value() const;
- float get_max_value() const;
- frequency_clock_t& get_frequency();
- bool get_send_same() const;
- bool get_force_send_changed() const;
- const std::map<uint8_t, std::string>& get_states() const;
- const std::string get_states(uint8_t value);
- size_t get_state_count() const;
- bool get_writable() const;
- SignalDecoder& get_decoder();
- SignalEncoder& get_encoder();
- bool get_received() const;
- float get_last_value() const;
- std::pair<float, uint64_t> get_last_value_with_timestamp() const;
-
- void set_parent(can_message_definition_t* parent);
- void set_prefix(std::string val);
- void set_received(bool r);
- void set_last_value(float val);
- void set_timestamp(uint64_t timestamp);
-};
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp
deleted file mode 100644
index f503e0a5..00000000
--- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp
+++ /dev/null
@@ -1,182 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <map>
-#include <fnmatch.h>
-
-#include "active-diagnostic-request.hpp"
-
-#include "../binding/application.hpp"
-
-#define ERROR_PID 0xFF
-
-std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
-
-bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
-{
- return (bus_ == b.bus_ && id_ == b.id_ && handle_ == b.handle_);
-}
-
-active_diagnostic_request_t& active_diagnostic_request_t::operator=(const active_diagnostic_request_t& adr)
-{
- if (this != &adr)
- {
- bus_ = adr.bus_;
- id_ = adr.id_;
- handle_ = adr.handle_;
- name_ = adr.name_;
- decoder_ = adr.decoder_;
- callback_ = adr.callback_;
- recurring_ = adr.recurring_;
- wait_for_multiple_responses_ = adr.wait_for_multiple_responses_;
- frequency_clock_ = adr.frequency_clock_;
- timeout_clock_ = adr.timeout_clock_;
- socket_ = adr.socket_;
- }
-
- return *this;
-}
-
-active_diagnostic_request_t::active_diagnostic_request_t()
- : bus_{nullptr},
- id_{0},
- handle_{nullptr},
- name_{""},
- decoder_{nullptr},
- callback_{nullptr},
- recurring_{false},
- wait_for_multiple_responses_{false},
- frequency_clock_{frequency_clock_t()},
- timeout_clock_{frequency_clock_t()},
- socket_{}
-{}
-
-active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, uint32_t id,
- const std::string& name,
- bool wait_for_multiple_responses,
- const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback,
- float frequencyHz)
- : bus_{bus},
- id_{id},
- handle_{nullptr},
- name_{name},
- decoder_{decoder},
- callback_{callback},
- recurring_{frequencyHz ? true : false},
- wait_for_multiple_responses_{wait_for_multiple_responses},
- frequency_clock_{frequency_clock_t(frequencyHz)},
- timeout_clock_{frequency_clock_t(10)},
- socket_{}
-{}
-
-active_diagnostic_request_t::~active_diagnostic_request_t()
-{
- socket_.close();
- delete handle_;
- handle_ = nullptr;
-}
-
-uint32_t active_diagnostic_request_t::get_id() const
-{
- return id_;
-}
-
-uint16_t active_diagnostic_request_t::get_pid() const
-{
- if (handle_->request.has_pid)
- return handle_->request.pid;
- return ERROR_PID;
-}
-
-DiagnosticRequestHandle* active_diagnostic_request_t::get_handle()
-{
- return handle_;
-}
-
-const std::string active_diagnostic_request_t::get_name() const
-{
- return name_;
-}
-
-std::string& active_diagnostic_request_t::get_prefix()
-{
- return active_diagnostic_request_t::prefix_;
-}
-
-DiagnosticResponseDecoder& active_diagnostic_request_t::get_decoder()
-{
- return decoder_;
-}
-
-DiagnosticResponseCallback& active_diagnostic_request_t::get_callback()
-{
- return callback_;
-}
-
-bool active_diagnostic_request_t::get_recurring() const
-{
- return recurring_;
-}
-
-frequency_clock_t& active_diagnostic_request_t::get_frequency_clock()
-{
- return frequency_clock_;
-}
-
-frequency_clock_t& active_diagnostic_request_t::get_timeout_clock()
-{
- return timeout_clock_;
-}
-
-utils::socketcan_bcm_t& active_diagnostic_request_t::get_socket()
-{
- return socket_;
-}
-
-void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request)
-{
- handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr));
-}
-
-///
-/// @brief Check if requested signal name is a diagnostic message. If the name
-/// begin with the diagnostic message prefix then true else false.
-///
-/// @param[in] name - A signal name.
-///
-/// @return true if name began with the diagnostic message prefix else false.
-///
-bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name)
-{
- const std::string p = active_diagnostic_request_t::prefix_ + "*";
- if(::fnmatch(p.c_str(), name.c_str(), FNM_CASEFOLD) == 0)
- return true;
- return false;
-}
-
-/// @brief Returns true if a sufficient response has been received for a
-/// diagnostic request.
-///
-/// This is true when at least one response has been received and the request is
-/// configured to not wait for multiple responses. Functional broadcast requests
-/// may often wish to wait the full 100ms for modules to respond.
-bool active_diagnostic_request_t::response_received() const
-{
- return !wait_for_multiple_responses_ &&
- handle_->completed && handle_->success;
-}
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
deleted file mode 100644
index d263a2d2..00000000
--- a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include "../utils/socketcan-bcm.hpp"
-#include "uds/uds.h"
-#include "uds/uds_types.h"
-#include "../utils/timer.hpp"
-
-class active_diagnostic_request_t;
-class diagnostic_manager_t;
-
-/// @brief The signature for an optional function that can apply the neccessary
-/// formula to translate the binary payload into meaningful data.
-///
-/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
-/// a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
-/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
-///
-/// @return float value after decoding.
-///
-typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
- float parsed_payload);
-
-/// @brief: The signature for an optional function to handle a new diagnostic
-/// response.
-///
-/// @param[in] request - The original diagnostic request.
-/// @param[in] response - The response object that was just received.
-/// @param[in] parsed_payload - The payload of the response, parsed as a float.
-///
-typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
- const DiagnosticResponse* response, float parsed_payload);
-
-///
-/// @brief An active diagnostic request, either recurring or one-time.
-///
-/// Will host a diagnostic_message_t class members to describe an on going
-/// diagnostic request on the CAN bus. Diagnostic message will be converted to
-/// a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
-/// Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
-/// as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
-/// an active_diagnostic_request_t object before sending it.
-///
-class active_diagnostic_request_t {
-private:
- std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
- uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
- DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
- ///< sending the frames of the request and receiving all frames of the response.
- std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
- ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
- static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting
- ///< incoming CAN messages.
- DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
- ///< to this request. If the decoder is NULL, the output will include the raw payload
- ///< instead of a parsed value.
- DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
- ///< response is received for this request.
- bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
- ///< The frequencyClock attribute controls how often a recurrin request is made.
- bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
- ///< it will be removed from the active list. If true, the request will remain active until the timeout
- ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
- frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
- ///< recurring request. If the request is not reecurring, this attribute is not used.
- frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
- ///< this request was sent.
- utils::socketcan_bcm_t socket_; ///< socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF.
-public:
- bool operator==(const active_diagnostic_request_t& b);
- active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
-
- active_diagnostic_request_t();
- active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
- active_diagnostic_request_t(const std::string& bus, uint32_t id,
- const std::string& name, bool wait_for_multiple_responses,
- const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz);
- ~active_diagnostic_request_t();
-
- uint32_t get_id() const;
- DiagnosticRequestHandle* get_handle();
- uint16_t get_pid() const;
- const std::string get_name() const;
- static std::string& get_prefix();
- DiagnosticResponseDecoder& get_decoder();
- DiagnosticResponseCallback& get_callback();
- bool get_recurring() const;
- frequency_clock_t& get_frequency_clock();
- frequency_clock_t& get_timeout_clock();
- utils::socketcan_bcm_t& get_socket();
-
- void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
-
- static bool is_diagnostic_signal(const std::string& name);
-
- bool response_received() const;
-};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
deleted file mode 100644
index 61aa699d..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ /dev/null
@@ -1,508 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <systemd/sd-event.h>
-#include <algorithm>
-#include <string.h>
-
-#include "diagnostic-manager.hpp"
-
-#include "../utils/openxc-utils.hpp"
-#include "../utils/signals.hpp"
-#include "../binding/application.hpp"
-
-#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
-#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
-// There are only 8 slots of in flight diagnostic requests
-#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
-#define TIMERFD_ACCURACY 0
-#define MICRO 1000000
-
-diagnostic_manager_t::diagnostic_manager_t()
- : initialized_{false}
-{}
-
-/// @brief Diagnostic manager isn't initialized at launch but after
-/// CAN bus devices initialization. For the moment, it is only possible
-/// to have 1 diagnostic bus which are the first bus declared in the JSON
-/// description file. Configuration instance will return it.
-///
-/// this will initialize DiagnosticShims and cancel all active requests
-/// if there are any.
-bool diagnostic_manager_t::initialize()
-{
- // Mandatory to set the bus before intialize shims.
- bus_ = application_t::instance().get_diagnostic_bus();
-
- init_diagnostic_shims();
- reset();
-
- initialized_ = true;
- DEBUG("Diagnostic Manager initialized");
- return initialized_;
-}
-
-/// @brief initialize shims used by UDS lib and set initialized_ to true.
-/// It is needed before used the diagnostic manager fully because shims are
-/// required by most member functions.
-void diagnostic_manager_t::init_diagnostic_shims()
-{
- shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
- DEBUG("Shims initialized");
-}
-
-/// @brief Force cleanup all active requests.
-void diagnostic_manager_t::reset()
-{
- DEBUG("Clearing existing diagnostic requests");
- cleanup_active_requests(true);
-}
-
-/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
-/// That socket will send cyclic messages configured from a diagnostic request.
-///
-/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
-/// is 0x7DF by example.
-/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
-/// @param[in] size - The size of the data payload, in bytes.
-///
-/// @return true if the CAN message was sent successfully.
-bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
-{
- diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
- active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
- utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
-
- // Make sure that socket has been opened.
- if(! tx_socket)
- tx_socket.open(
- dm.get_bus_device_name());
-
- struct utils::simple_bcm_msg bcm_msg;
- struct can_frame cfd;
-
- memset(&cfd, 0, sizeof(cfd));
- memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
-
- struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
-
- bcm_msg.msg_head.opcode = TX_SETUP;
- bcm_msg.msg_head.can_id = arbitration_id;
- bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
- bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
- bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
- bcm_msg.msg_head.nframes = 1;
- cfd.can_dlc = size;
- ::memcpy(cfd.data, data, size);
-
- bcm_msg.frames = cfd;
-
- tx_socket << bcm_msg;
- if(tx_socket)
- return true;
- return false;
-}
-
-/// @brief The type signature for an optional logging function, if the user
-/// wishes to provide one. It should print, store or otherwise display the
-/// message.
-///
-/// message - A format string to log using the given parameters.
-/// ... (vargs) - the parameters for the format string.
-///
-void diagnostic_manager_t::shims_logger(const char* format, ...)
-{
- va_list args;
- va_start(args, format);
-
- char buffer[256];
- vsnprintf(buffer, 256, format, args);
-
- DEBUG("%s", buffer);
- va_end(args);
-}
-
-/// @brief The type signature for a... OpenXC TODO: not used yet.
-void diagnostic_manager_t::shims_timer()
-{}
-
-const std::string diagnostic_manager_t::get_bus_name() const
-{
- return bus_;
-}
-
-const std::string diagnostic_manager_t::get_bus_device_name() const
-{
- return application_t::instance().get_can_bus_manager()
- .get_can_device_name(bus_);
-}
-
-active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
-{
- return recurring_requests_.back();
-}
-
-/// @brief Return diagnostic manager shims member.
-DiagnosticShims& diagnostic_manager_t::get_shims()
-{
- return shims_;
-}
-
-/// @brief Search for a specific active diagnostic request in the provided requests list
-/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
-/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
-/// contained in the vector but no event if connected to, so we will decode uneeded request.
-///
-/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
-/// @param[in] requests_list - a vector where to make the search and cleaning.
-void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
-{
- auto i = std::find(requests_list.begin(), requests_list.end(), entry);
- if ( i != requests_list.end())
- requests_list.erase(i);
-}
-
-/// @brief Free memory allocated on active_diagnostic_request_t object and close the socket.
-void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
-{
- entry->get_socket().close();
- delete entry;
- entry = nullptr;
-}
-
-/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
-/// impossible to get that state for a recurring request without waiting for that, you can
-/// force the cleaning operation.
-///
-/// @param[in] entry - the request to clean
-/// @param[in] force - Force the cleaning or not ?
-void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
-{
- if(entry != nullptr && (force || entry->response_received()))
- {
- char request_string[128] = {0};
- diagnostic_request_to_string(&entry->get_handle()->request,
- request_string, sizeof(request_string));
- if(force && entry->get_recurring())
- {
- cancel_request(entry);
- find_and_erase(entry, recurring_requests_);
- DEBUG("Cancelling completed, recurring request: %s", request_string);
- }
- else if (!entry->get_recurring())
- {
- DEBUG("Cancelling completed, non-recurring request: %s", request_string);
- cancel_request(entry);
- find_and_erase(entry, non_recurring_requests_);
- }
- }
-}
-
-/// @brief Clean up all requests lists, recurring and not recurring.
-///
-/// @param[in] force - Force the cleaning or not ? If true, that will do
-/// the same effect as a call to reset().
-void diagnostic_manager_t::cleanup_active_requests(bool force)
-{
- for(auto& entry : non_recurring_requests_)
- {
- if (entry != nullptr)
- cleanup_request(entry, force);
- }
-
- for(auto& entry : recurring_requests_)
- {
- if (entry != nullptr)
- cleanup_request(entry, force);
- }
-}
-
-/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
-/// not found.
-///
-/// @param[in] request - Search key, method will go through recurring list to see if it find that request
-/// holded by the DiagnosticHandle member.
-active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(DiagnosticRequest& request)
-{
- for (auto& entry : recurring_requests_)
- {
- if(entry != nullptr)
- {
- if(diagnostic_request_equals(&entry->get_handle()->request, &request))
- {return entry;}
- }
- }
- return nullptr;
-}
-
-/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
-///
-/// A one-time (aka non-recurring) request can existing in parallel with a
-/// recurring request for the same PID or mode, that's not a problem.
-///
-/// For an example, see the docs for addRecurringRequest. This function is very
-/// similar but leaves out the frequencyHz parameter.
-///
-/// @param[in] request - The parameters for the request.
-/// @param[in] name - Human readable name this response, to be used when
-/// publishing received responses. TODO: If the name is NULL, the published output
-/// will use the raw OBD-II response format.
-/// @param[in] wait_for_multiple_responses - If false, When any response is received
-/// for this request it will be removed from the active list. If true, the
-/// request will remain active until the timeout clock expires, to allow it
-/// to receive multiple response. Functional broadcast requests will always
-/// waint for the timeout, regardless of this parameter.
-/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
-/// responses to this request. If the decoder is NULL, the output will
-/// include the raw payload instead of a parsed value.
-/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
-/// response is received for this request.
-///
-/// @return true if the request was added successfully. Returns false if there
-/// wasn't a free active request entry, if the frequency was too high or if the
-/// CAN acceptance filters could not be configured,
-active_diagnostic_request_t* diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string& name,
- bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback)
-{
- cleanup_active_requests(false);
-
- active_diagnostic_request_t* entry = nullptr;
-
- if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
- {
- // TODO: implement Acceptance Filter
- // if(updateRequiredAcceptanceFilters(bus, request)) {
- active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
- wait_for_multiple_responses, decoder, callback, 0);
- entry->set_handle(shims_, request);
-
- char request_string[128] = {0};
- diagnostic_request_to_string(&entry->get_handle()->request, request_string,
- sizeof(request_string));
-
- // Erase any existing request not already cleaned.
- cleanup_request(entry, true);
- DEBUG("Added one-time diagnostic request on bus %s: %s",
- bus_.c_str(), request_string);
-
- non_recurring_requests_.push_back(entry);
- }
- else
- {
- WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
- non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- }
- return entry;
-}
-
-/// @brief Validate frequency asked don't get higher than the maximum of a classical
-/// CAN bus OBD2 request.
-///
-/// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
-///
-/// @return True if frequency is below the Maximum false if not.
-bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
-{
- if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
- DEBUG("Requested recurring diagnostic frequency %lf is higher than maximum of %d",
- frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
- return false;
- }
- return true;
-}
-
-/// @brief Add and send a new recurring diagnostic request.
-///
-/// At most one recurring request can be active for the same arbitration ID, mode
-/// and (if set) PID on the same bus at one time. If you try and call
-/// add_recurring_request with the same key, it will return an error.
-///
-/// @param[in] request - The parameters for the request.
-/// @param[in] name - An optional human readable name this response, to be used when
-/// publishing received responses. If the name is NULL, the published output
-/// will use the raw OBD-II response format.
-/// @param[in] wait_for_multiple_responses - If false, When any response is received
-/// for this request it will be removed from the active list. If true, the
-/// request will remain active until the timeout clock expires, to allow it
-/// to receive multiple response. Functional broadcast requests will always
-/// waint for the timeout, regardless of this parameter.
-/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
-/// responses to this request. If the decoder is NULL, the output will
-/// include the raw payload instead of a parsed value.
-/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
-/// response is received for this request.
-/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
-/// MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
-/// function return false.
-///
-/// @return true if the request was added successfully. Returns false if there
-/// was too much already running requests, if the frequency was too high TODO:or if the
-/// CAN acceptance filters could not be configured,
-active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
- bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz)
-{
- active_diagnostic_request_t* entry = nullptr;
-
- if(!validate_optional_request_attributes(frequencyHz))
- return entry;
-
- cleanup_active_requests(false);
-
- if(find_recurring_request(*request) == nullptr)
- {
- if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
- {
- entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
- wait_for_multiple_responses, decoder, callback, frequencyHz);
- recurring_requests_.push_back(entry);
-
- entry->set_handle(shims_, request);
- start_diagnostic_request(&shims_, entry->get_handle());
- }
- else
- {
- WARNING("There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
- recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
- }
- }
- else
- { DEBUG("Can't add request, one already exists with same key");}
- return entry;
-}
-
-/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
-///
-/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
-/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
-///
-/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
-{
- openxc_VehicleMessage message = build_VehicleMessage();
- float value = (float)diagnostic_payload_to_integer(&response);
- if(adr->get_decoder() != nullptr)
- {
- value = adr->get_decoder()(&response, value);
- }
-
- if((response.success && adr->get_name().size()) > 0)
- {
- // If name, include 'value' instead of payload, and leave of response
- // details.
- message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
- message.has_diagnostic_response = true;
- message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
- }
- else
- {
- // If no name, only send full details of response but still include 'value'
- // instead of 'payload' if they provided a decoder. The one case you
- // can't get is the full detailed response with 'value'. We could add
- // another parameter for that but it's onerous to carry that around.
- message = build_VehicleMessage(adr, response, value);
- }
-
- // If not success but completed then the pid isn't supported
- if(!response.success)
- {
- struct utils::signals_found found_signals;
- found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
- found_signals.diagnostic_messages.front()->set_supported(false);
- cleanup_request(adr, true);
- NOTICE("PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
- message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
- }
-
- if(adr->get_callback() != nullptr)
- {
- adr->get_callback()(adr, &response, value);
- }
-
- // Reset the completed flag handle to make sure that it will be reprocessed the next time.
- adr->get_handle()->success = false;
- return message;
-}
-
-/// @brief Will take the CAN message and pass it to the receive functions that will process
-/// diagnostic handle for each active diagnostic request then depending on the result we will
-/// return pass the diagnostic response to decode it.
-///
-/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
-/// @param[in] cm - A raw CAN message.
-///
-/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
-openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
-{
- DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
- if(response.completed && entry->get_handle()->completed)
- {
- if(entry->get_handle()->success)
- return relay_diagnostic_response(entry, response);
- }
- else if(!response.completed && response.multi_frame)
- {
- // Reset the timeout clock while completing the multi-frame receive
- entry->get_timeout_clock().tick(
- entry->get_timeout_clock().get_time_function()());
- }
-
- return build_VehicleMessage();
-}
-
-/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
-/// member that will understand the CAN message using diagnostic_receive_can_frame function
-/// from UDS-C library. Then decode it with an ad-hoc method.
-///
-/// @param[in] cm - Raw CAN message received
-///
-/// @return VehicleMessage with decoded value.
-openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
-{
- openxc_VehicleMessage vehicle_message = build_VehicleMessage();
-
- for ( auto entry : non_recurring_requests_)
- {
- vehicle_message = relay_diagnostic_handle(entry, cm);
- if (is_valid(vehicle_message))
- return vehicle_message;
- }
-
- for ( auto entry : recurring_requests_)
- {
- vehicle_message = relay_diagnostic_handle(entry, cm);
- if (is_valid(vehicle_message))
- return vehicle_message;
- }
-
- return vehicle_message;
-}
-
-/// @brief Tell if the CAN message received is a diagnostic response.
-/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond
-/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
-///
-/// @param[in] cm - CAN message received from the socket.
-///
-/// @return True if the active diagnostic request match the response.
-bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
-{
- if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
- return true;
- return false;
-}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
deleted file mode 100644
index 05a67c81..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <systemd/sd-event.h>
-#include <map>
-#include <vector>
-
-#include "../utils/socketcan-bcm.hpp"
-#include "uds/uds.h"
-#include "openxc.pb.h"
-#include "../can/can-bus.hpp"
-#include "active-diagnostic-request.hpp"
-
-/// Each CAN bus needs its own set of shim functions, so this should
-/// match the maximum CAN controller count.
-///
-#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
-#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
-
-class active_diagnostic_request_t;
-
-///
-/// @brief The core structure for running the diagnostics module by the binding.
-///
-/// This stores details about the active requests and shims required to connect
-/// the diagnostics library to the CAN device.
-///
-class diagnostic_manager_t {
-private:
- DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
- * library (uds-c) into the VI's CAN peripheral.*/
- std::string bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
- * explicitly spcified in the request. Default to the first bus CAN at initialization.*/
- std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
- std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
- * response is received for a non-recurring request or it times out, it is removed*/
- bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
-
- void init_diagnostic_shims();
- void reset();
-
- static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
- static void shims_logger(const char* m, ...);
- static void shims_timer();
-public:
- diagnostic_manager_t();
-
- bool initialize();
-
- const std::string get_bus_name() const;
- const std::string get_bus_device_name() const;
- active_diagnostic_request_t* get_last_recurring_requests() const;
- DiagnosticShims& get_shims();
-
- void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
- void cancel_request(active_diagnostic_request_t* entry);
- void cleanup_request(active_diagnostic_request_t* entry, bool force);
- void cleanup_active_requests(bool force);
- active_diagnostic_request_t* find_recurring_request(DiagnosticRequest& request);
-
- // Subscription parts
- active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string& name,
- bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback);
- bool validate_optional_request_attributes(float frequencyHz);
- active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
- bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
- const DiagnosticResponseCallback callback, float frequencyHz);
-
- // Decoding part
- openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response);
- openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
- openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
- bool is_diagnostic_response(const can_message_t& cm);
-};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp
deleted file mode 100644
index 69ca4e34..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include <map>
-
-#include "diagnostic-message.hpp"
-
-#include "../binding/application.hpp"
-#include "../utils/signals.hpp"
-
-const char *UNIT_NAMES[10] = {
- "POURCENT",
- "DEGREES_CELSIUS",
- "KPA",
- "RPM",
- "GRAMS_SEC",
- "SECONDS",
- "KM",
- "KM_H",
- "PA",
- "NM"
-};
-
-diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string& generic_name, const int min,
- const int max, enum UNIT unit, float frequency, DiagnosticResponseDecoder decoder,
- DiagnosticResponseCallback callback, bool supported)
- : parent_{nullptr}, pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit},
- frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
-{}
-
-uint32_t diagnostic_message_t::get_pid()
-{
- return (uint32_t)pid_;
-}
-
-const std::string diagnostic_message_t::get_generic_name() const
-{
- return generic_name_;
-}
-
-const std::string diagnostic_message_t::get_name() const
-{
- return active_diagnostic_request_t::get_prefix() + "." + generic_name_;
-}
-
-float diagnostic_message_t::get_frequency() const
-{
- return frequency_;
-}
-
-DiagnosticResponseDecoder diagnostic_message_t::get_decoder() const
-{
- return decoder_;
-}
-DiagnosticResponseCallback diagnostic_message_t::get_callback() const
-{
- return callback_;
-}
-
-bool diagnostic_message_t::get_supported() const
-{
- return supported_;
-}
-
-void diagnostic_message_t::set_supported(bool value)
-{
- supported_ = value;
-}
-
-void diagnostic_message_t::set_parent(can_message_set_t* parent)
-{
- parent_ = parent;
-}
-
-///
-/// @brief Build a DiagnosticRequest struct to be passed
-/// to diagnostic manager instance.
-///
- const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() const
-{
- return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID,
- /*mode: */0x1,
- /*has_pid: */true,
- /*pid: */pid_,
- /*pid_length: */0,
- /*payload[]: */{0},
- /*payload_length: */0,
- /*no_frame_padding: */false,
- /*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID };
-}
-
-///
-/// @brief Check if a request is an OBD-II PID request.
-///
-/// @return true if the request is a mode 1 request and it has a 1 byte PID.
-///
-bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request)
-{
- return request->mode == 0x1 && request->has_pid && request->pid < 0xff;
-}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
deleted file mode 100644
index 99c48110..00000000
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <vector>
-#include <string>
-
-#include "uds/uds.h"
-#include "../can/can-message-set.hpp"
-#include "../can/can-message.hpp"
-#include "active-diagnostic-request.hpp"
-
-enum UNIT {
- POURCENT,
- DEGREES_CELSIUS,
- KPA,
- RPM,
- GRAMS_SEC,
- SECONDS,
- KM,
- KM_H,
- PA,
- NM,
- INVALID
-};
-
-class can_message_set_t;
-
-/// @brief - A representation of an OBD-II PID.
-class diagnostic_message_t
-{
- private:
- can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this diagnostic message */
- uint8_t pid_; /*!< pid_ - The 1 byte PID.*/
- std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/
- int min_; /*!< min_ - Minimum value that can take this pid */
- int max_; /*!< max_ - Maximum value that can take this pid */
- enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/
- float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/
- DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
- * to this request. If the decoder is NULL, the output will include the raw payload
- * instead of a parsed value.*/
- DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
- * response is received for this request.*/
-
- bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/
-
- public:
- const char* generic_name = generic_name_.c_str();
- diagnostic_message_t(uint8_t pid, const std::string& generic_name, const int min, const int max, enum UNIT unit, float frequency,
- DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported);
-
- uint32_t get_pid();
- const std::string get_generic_name() const;
- const std::string get_name() const;
- float get_frequency() const;
- DiagnosticResponseDecoder get_decoder() const;
- DiagnosticResponseCallback get_callback() const;
- bool get_supported() const;
-
- void set_supported(bool value);
- void set_parent(can_message_set_t* parent);
- const DiagnosticRequest build_diagnostic_request() const;
-
- bool is_obd2_response(const can_message_t& can_message);
- bool is_obd2_request(const DiagnosticRequest *request);
-};
diff --git a/CAN-binder/low-can-binding/utils/config-parser.cpp b/CAN-binder/low-can-binding/utils/config-parser.cpp
deleted file mode 100644
index 8ccf5bcb..00000000
--- a/CAN-binder/low-can-binding/utils/config-parser.cpp
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "config-parser.hpp"
-
-#include "../binding/low-can-hat.hpp"
-
-namespace utils
-{
- /// @brief constructor using path to file
- config_parser_t::config_parser_t(std::string conf_file)
- : filepath_{conf_file}, config_content_{}
- {
- config_content_.read_file(conf_file);
- }
-
- const std::string& config_parser_t::filepath() const
- {
- return filepath_;
- }
-
- /// @brief read the conf_file_ and parse it into an INIReader object
- /// to search into later.
- bool config_parser_t::check_conf()
- {
- if (config_content_.size() <= 0)
- {
- ERROR("Can't load the INI config file.");
- return false;
- }
- DEBUG("Configuration file parsed");
- return true;
- }
-
- /// @brief Public method to access devices_name_ vector. If vector size equal 0
- /// then it will parses the configuration file content to fill it. It could be empty even
- /// after parsing if content file just don't have a correct "canbus" directive so you
- /// have to test the returned value.
- ///
- /// @return A const vector with string of linux CAN devices.
- const std::vector<std::pair<std::string, std::string> > config_parser_t::get_devices_name()
- {
- std::vector<std::pair<std::string, std::string> > devices_name;
-
- std::map<std::string, std::string> bus_mapping = config_content_.get_keys("CANbus-mapping");
- for(const auto& busIt : bus_mapping )
- {
- devices_name.push_back(std::make_pair(busIt.first, busIt.second));
- }
-
- return devices_name;
- }
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/config-parser.hpp b/CAN-binder/low-can-binding/utils/config-parser.hpp
deleted file mode 100644
index 3115e9bd..00000000
--- a/CAN-binder/low-can-binding/utils/config-parser.hpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <utility>
-#include "ini-config.hpp"
-
-namespace utils
-{
- /// @brief A configuration file parser that handle INI configuration
- /// file format.
- class config_parser_t
- {
- private:
- const std::string filepath_; /*!< filepath_ - Path to the config file*/
- ini_config config_content_; /*!< config_content_ - Parsed content of INI file.*/
-
- public:
- config_parser_t(config_parser_t&&) = default;
- config_parser_t(const config_parser_t&) = default;
- explicit config_parser_t(std::string conf_file);
-
- const std::string& filepath() const;
- bool check_conf();
- const std::vector<std::pair<std::string, std::string> > get_devices_name();
- };
-}
diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.cpp b/CAN-binder/low-can-binding/utils/openxc-utils.cpp
deleted file mode 100644
index f39f4184..00000000
--- a/CAN-binder/low-can-binding/utils/openxc-utils.cpp
+++ /dev/null
@@ -1,351 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "openxc-utils.hpp"
-
-#include "../binding/application.hpp"
-
-///
-/// @brief Build a specific VehicleMessage containing a DiagnosticResponse.
-///
-/// @param[in] request - Original request use to retrieve decoder and callback
-/// @param[in] response - Response to the request that will be decoded if decoder set
-/// and put into the DiagnosticResponse of the VehicleMessage.
-/// @param[in] parsed_value - raw parsed value of the payload from CAN message
-///
-/// @return a vehicle message including simple message that will be convert into
-/// a JSON object before being pushed to the subscribers
-///
-const openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
-{
- openxc_VehicleMessage message;
- application_t& app = application_t::instance();
-
- message.has_type = true;
- message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC;
- message.has_diagnostic_response = true;
- message.diagnostic_response.has_bus = true;
- message.diagnostic_response.bus = app.get_can_bus_manager().get_can_device_index(
- app.get_diagnostic_manager().get_bus_name());
- message.diagnostic_response.has_message_id = true;
-
- if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID)
- {
- message.diagnostic_response.message_id = response.arbitration_id
- - DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET;
- }
- else
- {
- // must preserve responding arb ID for responses to functional broadcast
- // requests, as they are the actual module address and not just arb ID +
- // 8.
- message.diagnostic_response.message_id = response.arbitration_id;
- }
-
- message.diagnostic_response.has_mode = true;
- message.diagnostic_response.mode = response.mode;
- message.diagnostic_response.has_pid = response.has_pid;
- if(message.diagnostic_response.has_pid)
- message.diagnostic_response.pid = response.pid;
- message.diagnostic_response.has_success = true;
- message.diagnostic_response.success = response.success;
- message.diagnostic_response.has_negative_response_code = !response.success;
- message.diagnostic_response.negative_response_code =
- response.negative_response_code;
-
- if(response.payload_length > 0)
- {
- if(request->get_decoder() != nullptr)
- {
- message.diagnostic_response.has_value = true;
- message.diagnostic_response.value = parsed_value;
- }
- else
- {
- message.diagnostic_response.has_payload = true;
- ::memcpy(message.diagnostic_response.payload.bytes, response.payload,
- response.payload_length);
- message.diagnostic_response.payload.size = response.payload_length;
- }
- }
-
- return message;
-}
-///
-/// @brief Build a specific VehicleMessage containing a SimpleMessage with associated timestamp
-///
-/// @param[in] message - simple message to include into openxc_VehicleMessage
-/// @param[in] timestamp - timestamp from ioctl when reading the socket
-///
-/// @return a vehicle message including simple message that will be convert into
-/// a JSON object before being pushed to the subscribers
-///
-const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message, uint64_t timestamp)
-{
- openxc_VehicleMessage v;
-
- v.has_type = true,
- v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
- v.has_simple_message = true;
- v.simple_message = message;
- v.has_timestamp = true;
- v.timestamp = timestamp;
-
- return v;
-}
-
-///
-/// @brief Build a specific VehicleMessage containing a SimpleMessage.
-///
-/// @param[in] message - simple message to include into openxc_VehicleMessage
-///
-/// @return a vehicle message including simple message that will be convert into
-/// a JSON object before being pushed to the subscribers
-///
-const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message)
-{
- openxc_VehicleMessage v;
-
- v.has_type = true,
- v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
- v.has_simple_message = true;
- v.simple_message = message;
- v.has_timestamp = true;
- v.timestamp = system_time_us();
-
- return v;
-}
-
-///
-/// @brief Build an empty VehicleMessage that isn't usable by at least the struct
-/// is initialized for the most part and can be use to check a false return value.
-///
-/// @return A VehicleMessage with all boolean value to false.
-///
-openxc_VehicleMessage build_VehicleMessage()
-{
- openxc_VehicleMessage v;
-
- ::memset(&v, 0, sizeof(openxc_VehicleMessage));
- return v;
-}
-
-bool is_valid(const openxc_VehicleMessage& v)
-{
- if (v.has_type == false &&
- v.has_can_message == false &&
- v.has_simple_message == false &&
- v.has_diagnostic_response == false &&
- v.has_control_command == false &&
- v.has_command_response == false &&
- v.has_timestamp == false)
- return false;
- return true;
-}
-
-///
-/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
-///
-/// @param[in] name - const string reference name to assign to the created SimpleMessage
-/// this will set has_name member to true and assign name to the name member. Maximum size for name is
-/// set to 100 char.
-/// @param[in] value - const reference with DynamicField to assign to SimpleMessage
-/// value.
-///
-/// @return an openxc_SimpleMessage struct initialized with name and value provided.
-///
-const openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value)
-{
- openxc_SimpleMessage s;
-
- s.has_name = true;
- ::strncpy(s.name, name.c_str(), 100);
- s.has_value = true;
- s.value = value;
-
- return s;
-}
-
-///
-/// @brief Build an openxc_DynamicField with a string value
-///
-/// @param[in] value - const string reference value to assign to builded
-/// openxc_DynamicField.
-///
-/// @return openxc_DynamicField initialized with a string value.
-///
-const openxc_DynamicField build_DynamicField(const char* value)
-{
- openxc_DynamicField d;
- d.has_type = true;
- d.type = openxc_DynamicField_Type_STRING;
-
- d.has_string_value = true;
- d.has_numeric_value = false;
- d.has_boolean_value = false;
- ::strncpy(d.string_value, value, 100);
-
- return d;
-}
-
-///
-/// @brief Build an openxc_DynamicField with a string value
-///
-/// @param[in] value - const string reference value to assign to builded
-/// openxc_DynamicField.
-///
-/// @return openxc_DynamicField initialized with a string value.
-///
-const openxc_DynamicField build_DynamicField(const std::string& value)
-{
- openxc_DynamicField d;
- d.has_type = true;
- d.type = openxc_DynamicField_Type_STRING;
-
- d.has_string_value = true;
- d.has_numeric_value = false;
- d.has_boolean_value = false;
- ::strncpy(d.string_value, value.c_str(), 100);
-
- return d;
-}
-
-///
-/// @fn openxc_DynamicField build_DynamicField(double value);
-///
-/// @brief Build an openxc_DynamicField with a double value
-///
-/// @param[in] value - double value to assign to builded openxc_DynamicField.
-///
-/// @return openxc_DynamicField initialized with a double value.
-///
-const openxc_DynamicField build_DynamicField(double value)
-{
- openxc_DynamicField d;
- d.has_type = true;
- d.type = openxc_DynamicField_Type_NUM;
-
- d.has_string_value = false;
- d.has_numeric_value = true;
- d.has_boolean_value = false;
- d.numeric_value = value;
-
- return d;
-}
-
-///
-/// @brief Build an openxc_DynamicField with a boolean value
-///
-/// @param[in] value - boolean value to assign to builded openxc_DynamicField.
-///
-/// @return openxc_DynamicField initialized with a boolean value.
-///
-const openxc_DynamicField build_DynamicField(bool value)
-{
- openxc_DynamicField d;
- d.has_type = true;
- d.type = openxc_DynamicField_Type_BOOL;
-
- d.has_string_value = false;
- d.has_numeric_value = false;
- d.has_boolean_value = true;
- d.boolean_value = value;
-
- return d;
-}
-
-int get_bool_from_DynamicField(const openxc_VehicleMessage& v_msg, bool* ret)
-{
- if(v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_boolean_value)
- {
- *ret = v_msg.simple_message.value.boolean_value;
- return 0;
- }
-
- return -1;
-}
-
-double get_numerical_from_DynamicField(const openxc_VehicleMessage& v_msg)
-{
- return (v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_numeric_value) ?
- v_msg.simple_message.value.numeric_value : -1.0;
-}
-
-const std::string get_string_from_DynamicField(const openxc_VehicleMessage& v_msg)
-{
-return (v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_string_value) ?
- v_msg.simple_message.value.string_value : "";
-}
-
-///
-/// @brief Extract the simple message value from an openxc_VehicleMessage
-/// and return it. If there isn't SimpleMessage in the VehicleMessage then
-/// returned value will be a SimpleMessage with all field set at false.
-/// DynamicField from SimpleMessage will be boolean DynamicField set to false too.
-///
-/// @param[in] v_msg - const reference to openxc_VehicleMessage
-///
-/// @return A simpleMessage from the provided VehicleMessage.
-///
-const openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg)
-{
- if (v_msg.has_simple_message)
- return v_msg.simple_message;
-
- openxc_SimpleMessage s_msg = { false, "", false, build_DynamicField(false), false, build_DynamicField(false)};
- return s_msg;
-}
-
-///
-/// @brief Make a JSON object from a DynamicField
-///
-/// @param[in] field - openxc_DynamicField struct to convert into
-/// a json object.
-/// @param[out] value - pointer to the object to set up.
-///
-void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value)
-{
- if(field.has_numeric_value)
- json_object_object_add(value, "value", json_object_new_double(field.numeric_value));
- else if(field.has_boolean_value)
- json_object_object_add(value, "value", json_object_new_boolean(field.boolean_value));
- else if(field.has_string_value)
- json_object_object_add(value, "value", json_object_new_string(field.string_value));
-}
-
-///
-/// @brief Make a JSON object from a SimpleMessage
-///
-/// @param[in] s_msg - const reference to an openxc_SimpleMessage
-/// struct to convert into a json object.
-/// @param[out] json - pointer with the DynamicField converted into json object
-///
-/// @return True if SimpleMessage has been transformed into json object
-/// and false if not. In such case, a json object is returned { "error": "error msg"}
-///
-bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json)
-{
- if(s_msg.has_name)
- {
- json_object_object_add(json, "name", json_object_new_string(s_msg.name));
- jsonify_DynamicField(s_msg.value, json);
- return true;
- }
- json_object_object_add(json, "error", json_object_new_string("openxc_SimpleMessage doesn't have name'"));
- return false;
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.hpp b/CAN-binder/low-can-binding/utils/openxc-utils.hpp
deleted file mode 100644
index 83d63797..00000000
--- a/CAN-binder/low-can-binding/utils/openxc-utils.hpp
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loic Collignon" <loic.collignon@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <string>
-#include <json-c/json.h>
-#include <sys/timeb.h>
-
-#include "openxc.pb.h"
-#include "../diagnostic/active-diagnostic-request.hpp"
-
-const openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value);
-const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message, uint64_t timestamp);
-const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message);
-openxc_VehicleMessage build_VehicleMessage();
-bool is_valid(const openxc_VehicleMessage& v);
-
-const openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value);
-const openxc_DynamicField build_DynamicField(const char* value);
-const openxc_DynamicField build_DynamicField(const std::string& value);
-const openxc_DynamicField build_DynamicField(double value);
-const openxc_DynamicField build_DynamicField(bool value);
-
-int get_bool_from_DynamicField(const openxc_VehicleMessage& v_msg, bool& ret);
-double get_numerical_from_DynamicField(const openxc_VehicleMessage& v_msg);
-const std::string get_string_from_DynamicField(const openxc_VehicleMessage& v_msg);
-const openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg);
-
-void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value);
-
-bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json); \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/signals.cpp b/CAN-binder/low-can-binding/utils/signals.cpp
deleted file mode 100644
index fbc49044..00000000
--- a/CAN-binder/low-can-binding/utils/signals.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "signals.hpp"
-
-namespace utils
-{
- signals_manager_t::signals_manager_t()
- {}
-
- /// @brief Return singleton instance of configuration object.
- signals_manager_t& signals_manager_t::instance()
- {
- static signals_manager_t sm;
- return sm;
- }
-
- /// @brief Return Subscribed signals map mutex.
- std::mutex& signals_manager_t::get_subscribed_signals_mutex()
- {
- return subscribed_signals_mutex_;
- }
-
- ///
- /// @brief return the subscribed_signals map.
- ///
- /// @return Map of subscribed signals.
- std::map<int, std::shared_ptr<low_can_subscription_t> >& signals_manager_t::get_subscribed_signals()
- {
- return subscribed_signals_;
- }
-
- ///
- /// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key)
- /// @brief return signals name found searching through CAN_signals and OBD2 pid
- ///
- /// @param[in] key : can contain numeric or string value in order to search against
- /// can signals or obd2 signals name.
- ///
- /// @return Vector of signals name found.
- ///
- struct signals_found signals_manager_t::find_signals(const openxc_DynamicField &key)
- {
- struct signals_found sf;
-
- switch(key.type)
- {
- case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
- lookup_signals_by_name(key.string_value, application_t::instance().get_all_can_signals(), sf.can_signals);
- lookup_signals_by_name(key.string_value, application_t::instance().get_diagnostic_messages(), sf.diagnostic_messages);
- break;
- case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
- lookup_signals_by_id(key.numeric_value, application_t::instance().get_all_can_signals(), sf.can_signals);
- lookup_signals_by_id(key.numeric_value, application_t::instance().get_diagnostic_messages(), sf.diagnostic_messages);
- break;
- default:
- ERROR("wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
- break;
- }
- DEBUG("Found %d signal(s)", (int)(sf.can_signals.size() + sf.diagnostic_messages.size()));
- return sf;
- }
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp
deleted file mode 100644
index 555c5dd6..00000000
--- a/CAN-binder/low-can-binding/utils/signals.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <vector>
-#include <string>
-#include <fnmatch.h>
-
-#include "openxc.pb.h"
-#include "../binding/application.hpp"
-#include "../can/can-signals.hpp"
-#include "../diagnostic/diagnostic-message.hpp"
-
-#include "../binding/low-can-hat.hpp"
-#include "../binding/low-can-subscription.hpp"
-
-namespace utils
-{
- struct signals_found
- {
- std::vector<std::shared_ptr<can_signal_t> > can_signals;
- std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages;
- };
-
- /// @brief Signal manager singleton hold subscription object with attached afb_event and its mutex
- /// to read and write it safely.
- /// It can be used to browse CAN signals and Diagnostic messages vectors and find a particular signal to
- /// subscribe to.
- class signals_manager_t
- {
- private:
- std::mutex subscribed_signals_mutex_;
- std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_; ///< Map containing all subscribed signals, key is the socket int value.
-
- signals_manager_t(); ///< Private constructor to make singleton class.
-
- public:
- static signals_manager_t& instance();
-
- std::mutex& get_subscribed_signals_mutex();
- std::map<int, std::shared_ptr<low_can_subscription_t> >& get_subscribed_signals();
-
- struct signals_found find_signals(const openxc_DynamicField &key);
- void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<std::shared_ptr<diagnostic_message_t> >& found_signals);
- void find_can_signals(const openxc_DynamicField &key, std::vector<std::shared_ptr<can_signal_t> >& found_signals);
-
- template <typename T>
- void lookup_signals_by_name(const std::string& key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals)
- {
- for(std::shared_ptr<T> s : signals)
- {
- if(::fnmatch(key.c_str(), s->get_generic_name().c_str(), FNM_CASEFOLD) == 0)
- found_signals.push_back(s);
- else if(::fnmatch(key.c_str(), s->get_name().c_str(), FNM_CASEFOLD) == 0)
- found_signals.push_back(s);
- }
- }
-
- template <typename T>
- void lookup_signals_by_id(const double key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals)
- {
- for(std::shared_ptr<T> s : signals)
- {
- if(application_t::instance().get_signal_id(*s) == key)
- {
- found_signals.push_back(s);
- }
- }
- }
- };
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
deleted file mode 100644
index e16b246f..00000000
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "socketcan-bcm.hpp"
-
-#include <net/if.h>
-#include <sys/ioctl.h>
-#include <fcntl.h>
-
-#include "../binding/application.hpp"
-
-namespace utils
-{
- /// @brief Connect the socket.
- /// @return 0 if success.
- int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
- }
-
- /// @brief Open a raw socket CAN.
- /// @param[in] device_name is the kernel network device name of the CAN interface.
- ///
- /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
- int socketcan_bcm_t::open(std::string device_name)
- {
- close();
-
- struct ifreq ifr;
- socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
-
- // Attempts to open a socket to CAN bus
- ::strcpy(ifr.ifr_name, device_name.c_str());
- DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
- if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
- {
- ERROR("ioctl failed. Error was : %s", strerror(errno));
- close();
- }
- else
- {
- tx_address_.can_family = AF_CAN;
- tx_address_.can_ifindex = ifr.ifr_ifindex;
-
- if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
- {
- ERROR("Connect failed. %s", strerror(errno));
- close();
- }
- // Needed because of using systemD event loop. See sd_event_add_io manual.
- fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
- }
- return socket_;
- }
-
- /// Read the socket to retrieve the associated CAN message. All the hard work is do into
- /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
- /// then CAN message will be zeroed and must be handled later.
- socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
- {
- struct utils::simple_bcm_msg msg;
-
- ::memset(&msg, 0, sizeof(msg));
- const struct sockaddr_can& addr = s.get_tx_address();
- socklen_t addrlen = sizeof(addr);
- struct ifreq ifr;
-
- ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
- ifr.ifr_ifindex = addr.can_ifindex;
- ioctl(s.socket(), SIOCGIFNAME, &ifr);
- long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
-
- DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
- DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
- msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
-
- struct timeval tv;
- ioctl(s.socket(), SIOCGSTAMP, &tv);
- uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
- cm = ::can_message_t::convert_from_frame(msg.frames ,
- frame_size,
- timestamp);
- cm.set_sub_id((int)s.socket());
-
- return s;
- }
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
deleted file mode 100644
index 97f093df..00000000
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include "socketcan.hpp"
-#include "../can/can-message.hpp"
-
-namespace utils
-{
- struct simple_bcm_msg
- {
- struct bcm_msg_head msg_head;
- struct can_frame frames;
- };
-
- struct canfd_bcm_msg
- {
- struct bcm_msg_head msg_head;
- struct canfd_frame frames;
- canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
- };
-
- /// @brief derivated socketcan class specialized for BCM CAN socket.
- class socketcan_bcm_t : public socketcan_t
- {
- public:
- using socketcan_t::socketcan_t;
-
- virtual int open(std::string device_name);
-
- private:
- int connect(const struct sockaddr* addr, socklen_t len);
- };
-
- socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm);
-// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
-// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
-}
diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
deleted file mode 100644
index 31965c3d..00000000
--- a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "socketcan-raw.hpp"
-
-#include <net/if.h>
-#include <sys/ioctl.h>
-
-namespace utils
-{
- /// @brief Bind the socket.
- /// @return 0 if success.
- int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
- }
-
- /// @brief Open a raw socket CAN.
- /// @param[in] device_name is the kernel network device name of the CAN interface.
- ///
- /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
- int socketcan_raw_t::open(std::string device_name)
- {
- close();
-
- struct ifreq ifr;
- socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
-
- // Attempts to open a socket to CAN bus
- ::strcpy(ifr.ifr_name, device_name.c_str());
- DEBUG("ifr_name is : %s", ifr.ifr_name);
- if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
- {
- ERROR("ioctl failed. Error was : %s", strerror(errno));
- close();
- }
- else
- {
- tx_address_.can_family = AF_CAN;
- tx_address_.can_ifindex = ifr.ifr_ifindex;
-
- if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
- {
- ERROR("Bind failed. %s", strerror(errno));
- close();
- }
- }
- return socket_;
- }
-
- socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm)
- {
- struct canfd_frame frame;
-
- const struct sockaddr_can& addr = s.get_tx_address();
- socklen_t addrlen = sizeof(addr);
- struct ifreq ifr;
-
- ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
- ifr.ifr_ifindex = addr.can_ifindex;
- ioctl(s.socket(), SIOCGIFNAME, &ifr);
-
- DEBUG("Data available: %i bytes read", (int)nbytes);
- DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
- frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
-
- struct timeval tv;
- ioctl(s.socket(), SIOCGSTAMP, &tv);
- uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
- cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp);
-
- return s;
- }
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.hpp b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp
deleted file mode 100644
index 61672411..00000000
--- a/CAN-binder/low-can-binding/utils/socketcan-raw.hpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#pragma once
-
-#include "socketcan.hpp"
-#include "../can/can-message.hpp"
-
-namespace utils
-{
- class socketcan_raw_t : public socketcan_t
- {
- public:
- using socketcan_t::socketcan_t;
- virtual int open(std::string device_name);
-
- private:
- int bind(const struct sockaddr* addr, socklen_t len);
- };
-
- socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm);
-}
diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
deleted file mode 100644
index 71588a6e..00000000
--- a/CAN-binder/low-can-binding/utils/socketcan.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <unistd.h>
-#include <string>
-#include <linux/can/raw.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
-
-#include "socketcan.hpp"
-
-namespace utils
-{
-
- /// @brief Construct a default, invalid, socket.
- socketcan_t::socketcan_t()
- : socket_{INVALID_SOCKET}
- {}
-
- /// @brief Construct a socket by moving an existing one.
- socketcan_t::socketcan_t(socketcan_t&& s)
- : socket_{s.socket_}
- {
- ::memset(&tx_address_, 0, sizeof(tx_address_));
- }
-
- socketcan_t& socketcan_t::operator=(const socketcan_t& s)
- {
- socket_ = std::move(s.socket_);
- return *this;
- }
-
- socketcan_t::~socketcan_t()
- {
- close();
- socket_ = INVALID_SOCKET;
- }
-
- const struct sockaddr_can& socketcan_t::get_tx_address() const
- {
- return tx_address_;
- }
-
- /// @brief Test if socket is valid.
- /// @return true if valid, false otherwise.
- socketcan_t::operator bool() const
- {
- return socket_ != INVALID_SOCKET;
- }
-
- /// @brief Open the socket.
- /// @param[in] domain Specifies the communications domain in which a socket is to be created.
- /// @param[in] type Specifies the type of socket to be created.
- /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type.
- /// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
- int socketcan_t::open(int domain, int type, int protocol)
- {
- close();
- socket_ = ::socket(domain, type, protocol);
- return socket_;
- }
-
- /// @brief Close the socket.
- /// @return 0 if success.
- int socketcan_t::close()
- {
- return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
- }
-
- /// @brief Set socket option.
- /// @return 0 if success.
- int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
- {
- return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
- }
-
- /// @brief Get the file descriptor.
- /// @return The socket's file descriptor
- int socketcan_t::socket() const
- {
- return socket_;
- }
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp
deleted file mode 100644
index 82b797e0..00000000
--- a/CAN-binder/low-can-binding/utils/socketcan.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-#pragma once
-
-/*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- * Author "Loïc Collignon" <loic.collignon@iot.bzh>
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <vector>
-
-#include <sys/socket.h>
-#include <linux/can/bcm.h>
-#include <string.h>
-
-#include "../binding/low-can-hat.hpp"
-
-#define INVALID_SOCKET -1
-
-namespace utils
-{
- class socketcan_t
- {
- public:
- socketcan_t();
- socketcan_t(const socketcan_t& s) = delete;
- socketcan_t(socketcan_t&&);
- socketcan_t& operator=(const socketcan_t& s);
- virtual ~socketcan_t();
-
- const struct sockaddr_can& get_tx_address() const;
- explicit operator bool() const;
-
- int socket() const;
- virtual int open(std::string device_name) = 0;
- int setopt(int level, int optname, const void* optval, socklen_t optlen);
- int close();
-
- protected:
- int socket_;
- struct sockaddr_can tx_address_;
-
- int open(int domain, int type, int protocol);
- };
-
- template <typename T>
- socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
- {
- for(const auto& obj : vobj)
- s << obj;
- return s;
- }
-
- template <typename T>
- socketcan_t& operator<<(socketcan_t& s, const T& obj)
- {
- if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
- ERROR("Error sending : %i %s", errno, ::strerror(errno));
- return s;
- }
-}
diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp
deleted file mode 100644
index f3cdd5e7..00000000
--- a/CAN-binder/low-can-binding/utils/timer.cpp
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <time.h>
-#include <stdlib.h>
-#include <cmath>
-
-#include "timer.hpp"
-
-long long int system_time_us()
-{
- struct timespec t_usec;
- long long int timestamp_usec = 0;
-
- if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec))
- timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll);
- return timestamp_usec;
-}
-
-long long int system_time_ms()
-{
- struct timespec t_msec;
- long long int timestamp_msec = 0;
-
- if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec))
- timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll);
- return timestamp_msec;
-}
-
-long long int system_time_s()
-{
- struct timespec t_sec;
- long long int timestamp_sec = 0;
-
- if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec))
- timestamp_sec = t_sec.tv_sec;
- return timestamp_sec;
-}
-
-frequency_clock_t::frequency_clock_t()
- : unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr}
-{}
-
-frequency_clock_t::frequency_clock_t(float frequency)
- : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
-{
- if(frequency_ <= 0)
- frequency_ = 1;
-}
-
-frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function)
- : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
-{
- if(frequency_ <= 0)
- frequency_ = 1;
-}
-
-/// @brief Return the period in ms given the frequency in hertz.
-/// @param[in] frequency - Frequency to convert, in hertz
-float frequency_clock_t::frequency_to_period() const
-{
- return frequency_ == 0 ? 0 : 1 / frequency_;
-}
-
-/// @brief Return a timeval struct based on the frequency_ member. used to
-/// specified CAN BCM timers.
-const struct timeval frequency_clock_t::get_timeval_from_period() const
-{
- struct timeval freq = {0, 0};
- float f;
- freq.tv_usec = (long int)(std::modf(frequency_to_period(), &f) * unit_);
- freq.tv_sec = (time_t)f;
-
- return freq;
-}
-
-bool frequency_clock_t::started()
-{
- return last_tick_ != 0;
-}
-
-time_function_t frequency_clock_t::get_time_function()
-{
- return time_function_ != nullptr ? time_function_ : system_time_us;
-}
-
-bool frequency_clock_t::elapsed(bool stagger)
-{
- float period = frequency_to_period();
- float elapsed_time = 0;
- if(!started() && stagger)
- last_tick_ = get_time_function()() - (rand() % int(period));
-
- // Make sure it ticks the the first call
- elapsed_time = !started() ? period : (float)get_time_function()() - (float)last_tick_;
-
- return frequency_ == 0 || elapsed_time >= period;
-}
-
-float frequency_clock_t::get_frequency() const
-{
- return frequency_;
-}
-
-uint64_t frequency_clock_t::get_last_tick() const
-{
- return last_tick_;
-}
-
-/// @brief Force the clock to tick, regardless of it its time has actually
-/// elapsed.
-void frequency_clock_t::tick(uint64_t timestamp)
-{
- last_tick_ = timestamp;
-} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp
deleted file mode 100644
index a667022a..00000000
--- a/CAN-binder/low-can-binding/utils/timer.hpp
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * Copyright (C) 2015, 2016 "IoT.bzh"
- * Author "Romain Forlot" <romain.forlot@iot.bzh>
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <sys/time.h>
-#include <stdint.h>
-
-/// @brief return epoch in milliseconds
-///
-/// @return long long int epoch in milliseconds
-typedef long long int (*time_function_t)();
-
-long long int system_time_us();
-long long int system_time_ms();
-long long int system_time_s();
-
-
-/// @brief A frequency counting clock.
-/// Utility class allowing some time function.
-class frequency_clock_t
-{
-private:
- float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc)
- float frequency_; ///< the clock frequency in Hz.
- uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked.
- time_function_t time_function_; ///< a function returning current time
-
-public:
- frequency_clock_t();
- explicit frequency_clock_t(float frequency);
- frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function);
-
- float get_frequency() const;
- const struct timeval get_timeval_from_period() const;
-
- float frequency_to_period() const;
- bool started();
- time_function_t get_time_function();
- bool elapsed(bool stagger);
-
- uint64_t get_last_tick() const;
- void tick(uint64_t timestamp);
-}; \ No newline at end of file